Abstract: In a method and an apparatus for calibrating a camera system of a motor vehicle, the calibration parameters comprising the rotation angle, pitch angle, yaw angle and roll angle as well as the height of the camera above the road, the rotation angle is determined from the ascertainment of the vanishing point from a first optical flow between a first and a second successive camera image, and the height of the camera is determined from a second optical flow between a first and a second, successive camera image. To determine the first optical flow, a regular grid is placed over the first camera image, correspondences of the regular grid are searched for in the second camera image, and the first optical flow is determined from the movement of the grid over the camera images.

Abstract: In a method and an apparatus for calibrating a camera system of a motor vehicle, the calibration parameters comprising the rotation angle, pitch angle, yaw angle and roll angle as well as the height of the camera above the road, the rotation angle is determined from the ascertainment of the vanishing point from a first optical flow between a first and a second successive camera image, and the height of the camera is determined from a second optical flow between a first and a second, successive camera image. To determine the first optical flow, a regular grid is placed over the first camera image, correspondences of the regular grid are searched for in the second camera image, and the first optical flow is determined from the movement of the grid over the camera images.