Method and device for calibrating a camera of a vehicle

The invention discloses a method and device for calibrating a camera of a vehicle. A method of calibrating a camera of a vehicle is provided. The method comprises: generating a camera calibration matrix comprising a first, a second and a third column, wherein the first column of the camera calibration matrix is obtained based on the obtained focus of expansion points, the third column of the camera calibration matrix is obtained based on the obtained plane normal vectors and a second column of the camera calibration matrix corresponding to the cross-product of the first and the third column ofthe camera calibration matrix is obtained. Then, the camera is calibrated using the obtained camera calibration matrix. 校准车辆的摄像头的方法和系统。提供了校准车辆的摄像头的方法。该方法包括：生成包括第一列、第二列和第三列的摄像头校准矩阵，其中，基于所获得的延伸焦点获得摄像头校准矩阵的第一列，基于所获得的平面法向量获得摄像头校准矩阵的第三列，并且获得摄像头校准矩阵的与摄像头校准矩阵的第一列和第三列的叉积相对应的第二列。然后，使用所获得的摄像头校准矩阵来校准摄像头。