Method for dynamically estimating the instantaneous pitch and respectively roll of a camera located onboard a motor vehicle, a calibration value of the pitch and respectively roll, θ calib , being known at each time, said method comprising: • computing, at a time t, a value of estimated pitch and respectively estimated roll, by integration, θ int ( t ) equal to θ calib 0 − ∫ 1 t θ rel x dx , where θ calib is the initial calibration value of the pitch and respectively roll on turn-on of the camera at a time t = 0, and where θ rel ( t ) is the value of relative pitch and respectively relative roll at the time t , equal to the angle of pitch and respectively roll made between the orientation of the camera at this time t and the orientation of the camera at a prior defined time t - 1; and • determining, by computation, the value of pitch and respectively roll θ ( t ) at the time t, such that θ ( t ) is equal to: θ int t + DAC t × θ calib t − θ int t , where θ calib ( t ) is the calibration value of the pitch and respectively roll at this time t, where θ int ( t ) is the value computed, at this time t, of the estimated pitch and respectively estimated roll, by integration, and where DAC(t) is a time-dependent anti-divergence coefficient such that, at a given time t, DAC ( t ) is equal to: DAC max × 1 − min ∫ t − N t θ rel x θ AMR dx , 1 where DAC max is a defined constant value corresponding to the chosen value of the maximum that the anti-divergence coefficient DAC(t) may reach, where N is a second defined constant value corresponding to the chosen value of the number of acquisition of prior images used to determine the anti-divergence coefficient DAC(t), where θ rel ( t ) is the value of relative pitch and respectively relative roll, at the time t, and where θ AMR is a third defined constant value corresponding to the chosen value, of the relative pitch and respectively relative roll, from which the anti-divergence coefficient DAC(t) becomes zero. • computing, at a time t, a value of estimated pitch and respectively estimated roll, by integration, θ int ( t ) equal to θ calib 0 − ∫ 1 t θ rel x dx , where θ calib is the initial calibration value of the pitch and respectively roll on turn-on of the camera at a time t = 0, and where θ rel ( t ) is the value of relative pitch and respectively relative roll at the time t , equal to the angle of pitch and respectively roll made between the orientation of the camera at this time t and the orientation of the camera at a prior defined time t - 1; and • determining, by computation, the value of pitch and respectively roll θ ( t ) at the time t, such that θ ( t ) is equal to: θ int t + DAC t × θ calib t − θ int t , where θ calib ( t ) is the calibration value of the pitch and respectively roll at this time t, where θ int ( t ) is the value computed, at this time t, of the estimated pitch and respectively estimated roll, by integration, and where DAC(t) is a time-dependent anti-divergence coefficient such that, at a given time t, DAC ( t ) is equal to: DAC max × 1 − min ∫ t − N t θ rel x θ AMR dx , 1 where DAC max is a defined constant value corresponding to the chosen value of the maximum that the anti-divergence coefficient DAC(t) may reach, where N is a second defined constant value corresponding to the chosen value of the number of acquisition of prior images used to determine the anti-divergence coefficient DAC(t), where θ rel ( t ) is the value of relative pitch and respectively relative roll, at the time t, and where θ AMR is a third defined constant value corresponding to the chosen value, of the relative pitch and respectively relative roll, from which the anti-divergence coefficient DAC(t) becomes zero. <EOS>