Single camera calibration

The invention relates to a method (100) for determining an external parameter of a camera device, comprising the following steps: starting (102) a movement of the camera device, detecting (104) a first raw image having a first patch and a second patch parallel to the first patch at a first point in time and a second raw image having a third patch and a fourth patch parallel to the third patch at a second point in time by means of a moving camera device, a distance between the first patch and the second patch is the same as a distance between the third patch and the fourth patch, detecting (108) a reference position A of at least one image feature in the first patch, a reference position C of at least one image feature position in the second patch, applying (110) an epipolar model based on a reference position A and C, a bias position B of at least one feature of the first patch in the third patch and a bias position D of at least one feature of the second patch in the fourth patch, based on the reference posi