Improved method and system for monitoring wheels

A method for monitoring at least one wheel (2) of a vehicle (1), said method comprising:

• acquiring (501) an image of said at least one wheel (2) of the vehicle (1) by using a camera (3) that is secured to the vehicle (1);
• identifying (503) at least one visual feature of the wheel (2) on the image;
• detecting at least one parameter of said at least one identified feature;
• determining (506) an operation state of the wheel (2) based on said parameter;
• characterized in further comprising
• determining (502) an actual position of the camera (3) relative to the wheel;
• wherein determining (502) the actual position of the camera (3) is performed based on any one or more of the following:
• a signal of an inertial measurement unit;
• an image acquired by the camera, showing a portion of an external environment;
• a signal of a LIDAR device directed to an external environment;
• and/or
• at least one signal of at least one proximity sensor;
• obtaining (505) a corrected parameter on the basis of the actual position of the camera (3);
• and
• determining (506) an operation state of the wheel (2) based on the corrected parameter.