A method for calibrating a distance determining device for determining a distance or position vector between an optical system comprising an optics and a camera and an object, comprising the steps: a) providing a detecting system, which comprises a plurality of marking elements and a measuring camera for detecting the spatial position of the marking elements; b) arranging the marking elements on the optical system and/or the distance determining device comprising means for projecting a light structure onto a calibration pattern; c) providing a carrier which forms the calibration pattern; d) projecting a light structure onto the carrier by means of the distance determining device; e) detecting the marking elements and detecting the calibration pattern and carrier marking elements arranged on the carrier by means of the measuring camera; f) detecting the light structure and the calibration pattern using the optics and the camera of the optical system; g) determining the spatial position of the marking elements and thus of the optical system using data of the measuring camera; h) determining coordinates of the calibration pattern in a first coordinate system associated with the measuring camera using data of the measuring camera; i) determining coordinates of an image of the light structure and a calibration pattern in a second coordinate system associated with the image plane of the camera of the optical system; and j) calibrating the distance determining device using the determined coordinates and the determined spatial position of the optical system, wherein the coordinates of the light structure in the first coordinate system are determined using the coordinates of the calibration pattern in the first coordinate system, the coordinates of the calibration pattern in the second coordinate system, and the coordinates of the light structure in the second coordinate system. a) providing a detecting system, which comprises a plurality of marking elements and a measuring camera for detecting the spatial position of the marking elements; b) arranging the marking elements on the optical system and/or the distance determining device comprising means for projecting a light structure onto a calibration pattern; c) providing a carrier which forms the calibration pattern; d) projecting a light structure onto the carrier by means of the distance determining device; e) detecting the marking elements and detecting the calibration pattern and carrier marking elements arranged on the carrier by means of the measuring camera; f) detecting the light structure and the calibration pattern using the optics and the camera of the optical system; g) determining the spatial position of the marking elements and thus of the optical system using data of the measuring camera; h) determining coordinates of the calibration pattern in a first coordinate system associated with the measuring camera using data of the measuring camera; i) determining coordinates of an image of the light structure and a calibration pattern in a second coordinate system associated with the image plane of the camera of the optical system; and j) calibrating the distance determining device using the determined coordinates and the determined spatial position of the optical system, wherein the coordinates of the light structure in the first coordinate system are determined using the coordinates of the calibration pattern in the first coordinate system, the coordinates of the calibration pattern in the second coordinate system, and the coordinates of the light structure in the second coordinate system.