The present invention is related to a computer-implemented method (100) for calibrating a set of extrinsic parameters of a camera mounted on a vehicle. The method (100) comprises: obtaining (S102) a sequence of images, captured by the camera, wherein each image of the sequence of images depicts a portion of a surrounding environment of the vehicle in a respective time instance of a plurality of time instances; determining (S104) a set of feature points in the sequence of images; determining (S106) an area representing a sky in the sequence of images; removing (S114), from the set of feature points, a subset of feature points, the subset of feature points belonging to the area representing the sky, thereby forming an updated set of feature points; determining (S118) a first motion trajectory of the vehicle over the plurality of time instances, based on the updated set of feature points; obtaining (S120) a second motion trajectory of the vehicle over the plurality of time instances, wherein the second motion trajectory is based on motion data obtained from one or more other sensors of the vehicle; and calibrating (S122) the camera by adjusting the set of extrinsic parameters of the camera based on a difference between the first motion trajectory and the second motion trajectory.