Method for evaluating image data of a vehicle camera

A device comprising a control device for evaluating image data of a vehicle camera, wherein the control device is configured to carry out the following steps, wherein at least steps b) to f) are part of an iteration:

• a) recording a first image by the vehicle camera,
• b) recording a second image by the vehicle camera subsequent to the recording of the first image,
• c) extracting multiple correspondent features in the first image and the second image,
• d) establishing a motion hypothesis as an assumption of a motion of the vehicle camera between the recording of the first image and the recording of the second image,
• e) determining respective reprojection errors of respective extracted features among the multiple correspondent features, wherein the respective reprojection error indicates a difference between a measured flow that is measured from the respective extracted feature and a calculated flow that is calculated from the motion hypothesis, and
• f) establishing the respective extracted feature as an outlier when the reprojection error of this respective extracted feature reaches or exceeds a threshold,
• wherein a respective threshold value of the threshold is not the same for all of the extracted features that are extracted within one iteration of at least the steps b) to f).