Abstract: A method for calibrating a camera on board a motor vehicle using a reference sensor on board the vehicle includes: a) acquiring, using the reference sensor, actual positions of at least one object in the vehicle surroundings, b) taking, using the camera, a shot each time one of the actual positions is acquired by the reference sensor, c) determining the position of the image of each object in the shots taken by the camera, d) forming position pairs by matching each actual position of each object with the position of the image of the object in the shot taken by the camera at the time of acquiring the actual position of the object, e) determining, using a computing unit, parameters for calibrating the camera from the position pairs formed.