A position and orientation of a projector are determined from projected images. First, a homography between a camera and a planar surface, where the relationship between the camera and planar surface is fixed, is determined. Next, a known pattern is projected on the planar surface with a projector having known intrinsic parameters and an unknown position and orientation. An image of the known pattern is acquired with the camera, and a position and orientation of the projector is determined from the image using the homography and the intrinsic parameters.