Depth sensor is a good choice for the same application,such as mobil robo t navigation.It also should be calibrated before using.In order to enhance accuracy of fac tory intrinsic parameters,we attempt to present a new calibration method for depth sensor,for example Kinect 2.0which consists of two cameras an RGB camera and a depth camera).For Kinect 2.0,we should calibrate its RGB camera and depth camera separately.In our method,the intrinsic parameters of depth camera will be used in RGB camera calibration,so we will calibrate the depth camera firstly.For depth camera,we as sume a fixed-length line in its view, and we regard the distance between two line endpoints which own the same value as the constraint condition,and solve the intrinsic parameters of the depth camera with indirect adjustment.Tran sform depth image points to 3D space points (Kinect coordinate system) with intrinsic parameters and associate them with RGB image points,and then calibrate RGB camera based on central projection equation.Exper imental results show that when depth image points are transformed to 3D space po ints,the precision of the lines is a bout 2.5mm,while when depth image points are transformed to RGB image points,th e precision of points is about 1pixel ,which is better than that of Microsoft Kinect SDK.If you want to get high-prec ision Kinect intrinsic parameters in the same applications,our method may be a g ood choice.