Abstract: The method consists in taking, when the vehicle is running, images of the road markings delimiting the circulation lanes of the road, and in fully estimating, through an iterative process, the orientation of the camera with respect to the vehicle, based on the position of two lanes located side-by-side on the image. The calibration essentially comprises: correcting the position of the lane edges in the image (10, 12); estimating the residual pitch and yaw (16); updating the rotation matrix (18); estimating the residual roll (20); updating the rotation matrix (24). These steps are iterated until the corrective angles estimated by each module are negligible (22).