Abstract: Disclosed is a camera calibration method of a calibration apparatus, including: receiving plural pattern image information photographed by a camera; setting points where edges of patterns of the plural pattern image information overlap with each other as a plurality of primary features; and calibrating the camera by using the plurality of primary features, in which the plural pattern image information includes first vertical pattern image information, second vertical pattern image information complementary to the first vertical pattern image information, first horizontal pattern image information, and second horizontal pattern image information complementary to the first horizontal pattern image information.