1. A method of estimating camera motion parameters from a video sequence comprising the steps of: generating a set of motion vectors for a current frame of the video sequence as a function of the current frame and a previous frame of the video sequence; determining an initial estimate of the camera motion parameters as a function of the set of motion vectors for the current frame; and refining the initial estimate of the camera motion parameters in an iterative process to provide as an output camera motion parameters and an error-of-fit for the current frame.