This paper describes an image synthesis method based on an estimation of camera parameters. In order to acquire high quality images using image synthesis, we take some constraints into account, which include angle of view, synchronization of change of scale and change of viewing direction. The proposed method is based on an investigation that any camera operation containing a change of scale and a pure 3D rotation can be represented by a 2D geometric transformation. The transformation can explain all the synthesis procedure consisting of locating, synchronizing, and operating images. The procedure is described based on a virtual camera which is constituted of a virtual viewing point and a virtual image plain. The method can be efficiently implemented in such a way that each image to be synthesized undergoes the transformation only one time. The parameters in the image transformation are estimated from image sequence. The estimation scheme consists of first establishing correspondence and then estimating the parameters by fitting the correspondence data to the transformation model. We present experimental results and show the validity of the proposed method.