This paper presents a new method of estimation of camera parameters which uses spherical structures as calibration objects. The method allows estimation of intrinsic parameters and parameters of the optical distortion of a camera and is adapted to the multi-camera systems. The algorithms shown in the paper, as well as implementations of the optical center and lens distortion coefficients estimation use novel solutions developed for the purpose of this paper. The presented method is tested experimentally by the authors. The results of the experiment prove that the method provides the accuracy of the estimation of the camera parameters comparable to the widely used state-of-the-art methods, therefore can be successfully used with any multi-camera