1. A method for self-recalibration of a structured light vision system comprising a camera and a projector, the method comprising: defining a camera plane and a projector plane; computing a Homography matrix between the camera plane and the projector plane; determining a translation vector and a rotation matrix from Homography-based constraints; wherein prior to determining the translation vector, if intrinsic parameters of the camera are known, a scale factor and its sign are determined; and wherein the scale factor λ is determined from an equation: λ 2 [t] x HH T [t] x =[t] x [t] x wherein [t] x comprises a skew matrix of the translation vector t, and wherein H comprises calibrated Homography.