Vehicle camera calibration system

A computer readable program stored on a non-transitory computer readable media, the computer readable program including code that when executed by a processor, causes the processor to:

• instruct a laser emitter located on a vehicle to point towards a road at a first angle and emit a first laser pulse group towards a first location on a road;
• instruct the laser emitter to point towards the road at a second angle and emit a second laser pulse group towards a second location on the road, wherein each of the first laser pulse group and the second laser pulse group comprises one or more laser spots;
• wherein the first laser pulse group and the second laser pulse group are emitted at the first location and the second location, respectively;
• determine two camera calibration parameters of a camera by solving two predetermined equations, wherein each predetermined equation includes two unknown camera calibration parameters, and a first value associated with a first set of distances to the one or more laser spots and a second value associated with a second set of distances to the one or more laser spots for a same laser pulse group;
• determine, based on a speed at which the vehicle is moving, the first angle and the second angle formed in between a direction in which the laser emitter is pointed towards the road and an imaginary horizontal plane that is at least partly parallel to the road and that includes at least a portion of the laser emitter;
• adjust the laser emitter according to each of first angle and the second angle to emit the first laser pulse group and the second laser pulse group at the first pre-determined distance and the second pre-determined distance, respectively;
• and
• determine the two camera calibration parameters of the camera while the vehicle is moving.