Patent US 10,885,669

A method of calibrating a vehicular camera includes mounting a camera at a vehicle moving along a vehicle assembly line. Responsive to processing of image data captured by the camera, features at the ground adjacent to the vehicle are determined and the determined features are tracked over two or more frames of captured image data. Responsive to processing of frames of captured image data during movement of the vehicle along a straight path, a misalignment of the camera is determined. The misaligned camera is calibrated using an assumption that the determined ground features lie in a plane parallel to a planar portion of the ground surface adjacent the straight path portion of the vehicle assembly line. The determination of misalignment and the calibration of the camera are performed without use of a target pattern at the vehicle assembly line.