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The determination of real world coordinate from image coordinate has many applications in computer vision. This paper proposes the algorithm for determination of real world coordinate of a point on a plane from its image coordinate using single calibrated camera based on simple analytic geometry. Experiment has been done using the image of chessboard pattern taken from five different views. The experiment result shows that exact real world coordinate and its approximation lie on the same plane and there are no significant difference between exact real world coordinate and its approximation.