Method for the determination of parameters of a camera, with which an image of a surrounding area is recorded, wherein the method comprises the following steps: - preparing of a three-dimensional geometrical description of visual features of the surrounding area; - initial establishing of camera parameters, which include at least one extrinsic parameter of the camera; - recording of an image of the surrounding area with the camera; - applying of a feature detector to the image in order to extract visual features; - applying of the initially established camera parameters to the three-dimensional geometrical description of the visual features of the surrounding area in order to display the visual features of the surrounding area on a feature image; - comparing by means of the positions of the features in the image of a set of visual features extracted from the image to a set of visual features in the feature image in order to determine a measure of concordance between the two sets; - changing the camera parameters and applying the changed camera parameters to the three-dimensional geometrical description of the visual features of the surrounding area in order to display the visual features of the surrounding area on an additional feature image; and - again comparing by means of the positions of the features in the image a set of visual features extracted from the image to a set of visual features in the additional feature image in order to determine the measure of concordance between the two sets, wherein the steps of the method of changing the camera parameters, applying the changed camera parameters and comparing the sets are repeated until the ascertained measure of concordance has passed a limit value, so that the changed camera parameters then constitute the ascertained camera parameters for the image. - preparing of a three-dimensional geometrical description of visual features of the surrounding area; - initial establishing of camera parameters, which include at least one extrinsic parameter of the camera; - recording of an image of the surrounding area with the camera; - applying of a feature detector to the image in order to extract visual features; - applying of the initially established camera parameters to the three-dimensional geometrical description of the visual features of the surrounding area in order to display the visual features of the surrounding area on a feature image; - comparing by means of the positions of the features in the image of a set of visual features extracted from the image to a set of visual features in the feature image in order to determine a measure of concordance between the two sets; - changing the camera parameters and applying the changed camera parameters to the three-dimensional geometrical description of the visual features of the surrounding area in order to display the visual features of the surrounding area on an additional feature image; and - again comparing by means of the positions of the features in the image a set of visual features extracted from the image to a set of visual features in the additional feature image in order to determine the measure of concordance between the two sets, wherein the steps of the method of changing the camera parameters, applying the changed camera parameters and comparing the sets are repeated until the ascertained measure of concordance has passed a limit value, so that the changed camera parameters then constitute the ascertained camera parameters for the image.