A vision system for autonomous driving and/or driver assistance for a motor vehicle, comprising - an imaging apparatus adapted to capture images from a surrounding of the motor vehicle, wherein - the imaging apparatus has at least one optical axis, and - a data processing device performing visual odometry on a plurality of images captured by the imaging apparatus yielding odometric data comprising the ego vehicle translation vector T for each image, wherein - the data processing device performs a statistical analysis on the odometric data yielding at least one statistical value, and - the data processing device calculates a pitch and/or yaw misalignment of the at least one optical axis by calculating a deviation of said statistical value from a predefined value corresponding to exact and constant forward movement of the ego vehicle, wherein the data processing device performs a parametrization of the vehicle translation vector T representing it with two spherical coordinates θ and φ, where θ denotes the yaw angle and φ denotes the pitch angle of the vehicle, and the statistical analysis involves a construction of a histogram and/or an estimation of a probability distribution of the statistically distributed quantity, namely of the pitch angle φ and/or the yaw angle θ, wherein the at least one statistical value comprises the mode value, the mean value and/or the median value of the statistically distributed quantity in the histogram and/or the probability distribution, wherein the misalignment is the difference between the mode value, the mean value and/or the median value and a static calibration angle of said imaging apparatus. - an imaging apparatus adapted to capture images from a surrounding of the motor vehicle, wherein - the imaging apparatus has at least one optical axis, and - a data processing device performing visual odometry on a plurality of images captured by the imaging apparatus yielding odometric data comprising the ego vehicle translation vector T for each image, wherein - the data processing device performs a statistical analysis on the odometric data yielding at least one statistical value, and - the data processing device calculates a pitch and/or yaw misalignment of the at least one optical axis by calculating a deviation of said statistical value from a predefined value corresponding to exact and constant forward movement of the ego vehicle, wherein the data processing device performs a parametrization of the vehicle translation vector T representing it with two spherical coordinates θ and φ, where θ denotes the yaw angle and φ denotes the pitch angle of the vehicle, and the statistical analysis involves a construction of a histogram and/or an estimation of a probability distribution of the statistically distributed quantity, namely of the pitch angle φ and/or the yaw angle θ, wherein the at least one statistical value comprises the mode value, the mean value and/or the median value of the statistically distributed quantity in the histogram and/or the probability distribution, wherein the misalignment is the difference between the mode value, the mean value and/or the median value and a static calibration angle of said imaging apparatus.