US Patent 11597319 Targetless vehicular camera calibration system

A vehicular camera calibration system includes a camera disposed at a vehicle, and an electronic control unit (ECU). The camera calibration system utilizes an intrinsic parameter of the camera and uses a kinematic model of motion of the vehicle that is determined at least in part via processing of multiple frames of captured image data. The camera calibration system, responsive to processing of multiple frames of image data captured by the camera as the vehicle moves along a path of travel, and based at least in part on (i) an intrinsic parameter of the camera and (ii) the kinematic model of motion of the vehicle, determines misalignment of the camera. The camera calibration system determines camera misalignment without use of a fiducial marker in the field of view of the camera as the vehicle moves along the path of travel and without use of reference points on the vehicle.