METHODS AND SYSTEMS FOR CAMERA TO GROUND ALIGNMENT

Methods and systems for a vehicle are provided. In one embodiment, the method includes: receiving image data defining a plurality of images associated with an environment of the vehicle; determining, by a processor, feature points within at least one image of the plurality of images; selecting, by the processor, a subset of the feature points as ground points; determining, by the processor, a ground plane based on the subset of feature points; determining, by the processor, a ground normal vector from the ground plane; determining, by the processor, the ground normal vector based on a sliding widow method; determining, by the processor, a camera to ground alignment value based on the ground normal vector; and generating, by the processor, second image data based on the camera to ground alignment value.