We present a novel linear algorithm with which to calibrate stereo cameras from two perpendicular planes. Stereo cameras are two cameras aligned in a special configuration with coplanar image planes and parallel axes that are increasingly more widely used in computer vision tasks. Our objective is to present a more practical and simplified linear algorithm for these special configuration cameras, as traditional linear algorithms usually require too-strong constraints either on three-dimensional scenes or on the camera's motion. We developed the proposed algorithm from a new constraint by exploiting the orthogonality of two planes. The algorithm has much weaker constraints on three-dimensional scenes because two perpendicular planes are commonly found in daily life. We tested the algorithm with synthetic data and real image data. Experimental results show that it is both accurate and practical.