A method of angular calibration of the position of a video camera on board a motor vehicle, by estimating a calibration matrix ( R e) defining a rotation between a reference system linked to the camera (X c, Y c, Z c) and a reference system linked to the vehicle (X v, Y v, Z v), said rotation being defined in terms of pitch (a x), yaw (a y) and roll (a z) angles, the method comprising, during a phase of displacement of the vehicle on a road, the steps of: a) capturing a sequence of video images of a scene of the road, each image of the sequence comprising a plurality of traces of interest representative of road markings of parallel circulation lanes; and b) detecting edges in the video images, for obtaining a list of rectilinear edges ( D k) corresponding, in each image, to said traces of interest, c) correcting the list of edges by applying to each edge a rotation according to the calibration matrix estimate; d) calculating residual pitch and yaw angles by a method of detection of the vanishing point applied to the corrected list of edges obtained at step c); e) updating the calibration matrix estimate by applying a rotation according to the residual pitch and yaw angles calculated at step d); the method being characterized in that it further comprises the following successive steps: f) calculating (20; 28, 32, 34, 36) a residual roll angle based on the corrected list of edges obtained at step c) and on the calibration matrix estimate obtained at step e), by: • estimating the respective widths of at least two circulation lanes based on the list of edges; • comparing the so-estimated respective widths and calculating at least one difference of width between lanes; and • calculating the roll angle as a function of said so-calculated width difference, the real widths of the lanes being supposed to be identical to each other; g) updating the estimate of the calibration matrix by applying a rotation according to the residual roll angle calculated at step f); and h) iterating, over at least a sequence of images, steps c) to g) until the residual pitch, yaw and roll angles are lower than a predetermined threshold. a) capturing a sequence of video images of a scene of the road, each image of the sequence comprising a plurality of traces of interest representative of road markings of parallel circulation lanes; and b) detecting edges in the video images, for obtaining a list of rectilinear edges ( D k) corresponding, in each image, to said traces of interest, c) correcting the list of edges by applying to each edge a rotation according to the calibration matrix estimate; d) calculating residual pitch and yaw angles by a method of detection of the vanishing point applied to the corrected list of edges obtained at step c); e) updating the calibration matrix estimate by applying a rotation according to the residual pitch and yaw angles calculated at step d); f) calculating (20; 28, 32, 34, 36) a residual roll angle based on the corrected list of edges obtained at step c) and on the calibration matrix estimate obtained at step e), by: • estimating the respective widths of at least two circulation lanes based on the list of edges; • comparing the so-estimated respective widths and calculating at least one difference of width between lanes; and • calculating the roll angle as a function of said so-calculated width difference, the real widths of the lanes being supposed to be identical to each other; • estimating the respective widths of at least two circulation lanes based on the list of edges; • comparing the so-estimated respective widths and calculating at least one difference of width between lanes; and • calculating the roll angle as a function of said so-calculated width difference, the real widths of the lanes being supposed to be identical to each other; g) updating the estimate of the calibration matrix by applying a rotation according to the residual roll angle calculated at step f); and h) iterating, over at least a sequence of images, steps c) to g) until the residual pitch, yaw and roll angles are lower than a predetermined threshold.