A method for calibrating parameters of a camera, comprising, by a processing device: obtaining a calibration image for multiple checkerboard targets captured by a camera to be calibrated; determining, in the calibration image, first checkerboard corners; generating multiple checkerboards according to the determined first checkerboard corners; converting each of the multiple checkerboards to a respective checkerboard world coordinate system to obtain second checkerboard corners of each checkerboard; calculating the parameters of the camera to be calibrated according to a projection relationship between the second checkerboard corners and the first checkerboard corners; wherein generating checkerboards according to the determined first checkerboard corners comprises: successively determining a current corner from each of the first checkerboard corners; determining, for each current corner, a first preset number of adjacent points of the current corner, wherein the first preset number of adjacent points belong to the first checkerboard corners; calculating an energy of an initial unit formed by the current corner and the first preset number of adjacent points by using an energy minimization function; determining whether the energy of the initial unit is less than a preset threshold; if not, returning to the step of successively determining a current corner from each of the first checkerboard corners; if yes, performing checkerboard growth based on the initial unit, and obtaining a checkerboard corresponding to the current corner. obtaining a calibration image for multiple checkerboard targets captured by a camera to be calibrated; determining, in the calibration image, first checkerboard corners; generating multiple checkerboards according to the determined first checkerboard corners; converting each of the multiple checkerboards to a respective checkerboard world coordinate system to obtain second checkerboard corners of each checkerboard; calculating the parameters of the camera to be calibrated according to a projection relationship between the second checkerboard corners and the first checkerboard corners; wherein generating checkerboards according to the determined first checkerboard corners comprises: successively determining a current corner from each of the first checkerboard corners; determining, for each current corner, a first preset number of adjacent points of the current corner, wherein the first preset number of adjacent points belong to the first checkerboard corners; calculating an energy of an initial unit formed by the current corner and the first preset number of adjacent points by using an energy minimization function; determining whether the energy of the initial unit is less than a preset threshold; if not, returning to the step of successively determining a current corner from each of the first checkerboard corners; if yes, performing checkerboard growth based on the initial unit, and obtaining a checkerboard corresponding to the current corner. successively determining a current corner from each of the first checkerboard corners; determining, for each current corner, a first preset number of adjacent points of the current corner, wherein the first preset number of adjacent points belong to the first checkerboard corners; calculating an energy of an initial unit formed by the current corner and the first preset number of adjacent points by using an energy minimization function; determining whether the energy of the initial unit is less than a preset threshold; if not, returning to the step of successively determining a current corner from each of the first checkerboard corners; if yes, performing checkerboard growth based on the initial unit, and obtaining a checkerboard corresponding to the current corner. <EOS>