Calibration for vision in navigation systems

A non-transitory computer readable storage medium storing executable instructions that, when executed by one or more processors, cause the one or more processors to perform steps comprising:

• receiving a video comprising image frames depicting one or more objects, the video captured by a video capture device;
• and
• determining an angular orientation of the video capture device based on the image frames, the determining the angular orientation comprising:
• identifying a segmentation object depicted in one or more of the image frames using a segmentation model, comprising:
• inputting the one or more of the image frames to the segmentation model to determine one or more output features of the segmentation object and a corresponding output orientation for each of the one or more output features;
• and
• identifying the segmentation object based on the one or more output features;
• determining an orientation of the segmentation object based on the corresponding output segmentation orientation for each of the one or more output features;
• generating a segmentation track using the orientation of the segmentation object;
• determining a vanishing point of the image frames based on the determined segmentation track, and
• determining the angular orientation of the video capture device based on the determined vanishing point.