We present a new algorithm for camera calibration using two concentric circles, which is a linear approach. In the calibration, a pinhole camera model is used. Different from previous methods, we take the projective equations of 3-D circles, which include the intrinsic parameter matrix of the camera, as the basis of our calibration approach. According to the special structure of the projective equations in algebra, we can get a linear equation system about the intrinsic parameters. After enough equations are constructed, the calibration can be easily finished. With at least three images of the two concentric circles, all five intrinsic parameters can be recovered. Experiments using computer simulated data and real data demonstrate the robustness and accuracy of our method.