1. A non-transitory computer-readable medium for calibrating a vision system of an object, configured to: receive, from a first image sensor of the vision system, a first image of a plurality of objects; receive, from a second image sensor of the vision system, a second image of the plurality of objects, where the plurality of objects is located in an overlapping region of a field of view of the first image sensor and a field of view of the second image sensor; determine a position and orientation of the first and the second image sensor relative to the plurality of objects based on the first and the second image, respectively, wherein determining the position and orientation of the first image sensor comprises determining a vector which comprises both a plurality of rotation parameters and a plurality of translation parameters of a camera matrix of the first image sensor, said vector being determined by solving a minimization problem under a constraint that a modulus of the vector which comprises both the plurality of rotation parameters and the plurality of translation parameters is fixed; determine a relative position and orientation between the first and the second image sensor based on a result of the determining a position and orientation of the first and the second image sensor; determine extrinsic parameters of the first and the second image sensor in a reference frame based on results of the determining a relative position and orientation between the first and the second image sensor; determine intrinsic parameters of the first and the second image sensor based on the first and the second image, respectively; and store the determined relative position and orientation between the first and the second image sensor and the determined intrinsic parameters for combining images captured by the vision system in performance of a driver assistance function.