Online Evaluation for Camera Intrinsic Parameters

The invention relates to a camera system () for a vehicle (). The camera system () is configured to acquire image data of a surrounding of the vehicle () and comprises a camera () and a control module (). The control module () is configured to determine, whether a calibration of an intrinsic parameter of the camera system () is required, by determining an error in a back projection, a forward projection and/or a reprojection of the image data and by determining whether the error exceeds a predefined threshold.