Method for dynamically estimating the instantaneous pitch and respectively roll of a camera located onboard a motor vehicle, a calibration value of the pitch and respectively roll, θ calib, being known at each time, said method comprising: • computing, at a time t, a value of estimated pitch and respectively estimated roll, by integration, θ int ( t) equal to θ calib 0 − ∫ 1 t θ rel x dx, where θ calib is the initial calibration value of the pitch and respectively roll on turn-on of the camera at a time t = 0, and where θ rel ( t) is the value of relative pitch and respectively relative roll at the time t, equal to the angle of pitch and respectively roll made between the orientation of the camera at this time t and the orientation of the camera at a prior defined time t - 1; and • determining, by computation, the value of pitch and respectively roll θ ( t) at the time t, such that θ ( t) is equal to: θ int t + DAC t × θ calib t − θ int t, where θ calib ( t) is the calibration value of the pitch and respectively roll at this time t, where θ int ( t) is the value computed, at this time t, of the estimated pitch and respectively estimated roll, by integration, and where DAC(t) is a time-dependent anti-divergence coefficient such that, at a given time t, DAC ( t) is equal to: DAC max × 1 − min ∫ t − N t θ rel x θ AMR dx, 1 where DAC max is a defined constant value corresponding to the chosen value of the maximum that the anti-divergence coefficient DAC(t) may reach, where N is a second defined constant value corresponding to the chosen value of the number of acquisition of prior images used to determine the anti-divergence coefficient DAC(t), where θ rel ( t) is the value of relative pitch and respectively relative roll, at the time t, and where θ AMR is a third defined constant value corresponding to the chosen value, of the relative pitch and respectively relative roll, from which the anti-divergence coefficient DAC(t) becomes zero. • computing, at a time t, a value of estimated pitch and respectively estimated roll, by integration, θ int ( t) equal to θ calib 0 − ∫ 1 t θ rel x dx, where θ calib is the initial calibration value of the pitch and respectively roll on turn-on of the camera at a time t = 0, and where θ rel ( t) is the value of relative pitch and respectively relative roll at the time t, equal to the angle of pitch and respectively roll made between the orientation of the camera at this time t and the orientation of the camera at a prior defined time t - 1; and • determining, by computation, the value of pitch and respectively roll θ ( t) at the time t, such that θ ( t) is equal to: θ int t + DAC t × θ calib t − θ int t, where θ calib ( t) is the calibration value of the pitch and respectively roll at this time t, where θ int ( t) is the value computed, at this time t, of the estimated pitch and respectively estimated roll, by integration, and where DAC(t) is a time-dependent anti-divergence coefficient such that, at a given time t, DAC ( t) is equal to: DAC max × 1 − min ∫ t − N t θ rel x θ AMR dx, 1 where DAC max is a defined constant value corresponding to the chosen value of the maximum that the anti-divergence coefficient DAC(t) may reach, where N is a second defined constant value corresponding to the chosen value of the number of acquisition of prior images used to determine the anti-divergence coefficient DAC(t), where θ rel ( t) is the value of relative pitch and respectively relative roll, at the time t, and where θ AMR is a third defined constant value corresponding to the chosen value, of the relative pitch and respectively relative roll, from which the anti-divergence coefficient DAC(t) becomes zero.