Abstract: The invention relates to a method for the image-based calibration of multi-camera systems with adjustable focus and/or zoom, including the following method steps: calculating a number of beams from an optics simulation for different focus and/or zoom settings or combinations of focus and zoom settings; reading out the focus and/or zoom settings and storing these values with the beams such that a unique assignment is ensured; parameterizing a continuous pinhole camera model for extrinsic and intrinsic calibration of different zoom and/or focus settings of the multi-camera system on the basis of the data from the optics simulation.