VEHICULAR VISION SYSTEM WITH CAMERA CALIBRATION

A vehicular vision system includes a camera disposed at a vehicle equipped with the vehicular vision system and viewing exterior of the vehicle, the camera capturing image data. The system includes an electronic control unit (ECU) with electronic circuitry and associated software. The electronic circuitry of the ECU includes an image processor for processing image data captured by the camera to detect presence of objects within a field of view of the camera. The vehicular vision system, at least in part via processing at the ECU of image data captured by the camera, detects edges of an object. The vehicular vision system, based at least in part on the detected edges of the object extracts lines representative of the detected edges and performs slope-based validation of the extracted lines. The vehicular vision system determines corners of the object by determining intersections of the validated extracted lines.