A vision system of a vehicle includes a camera configured to be disposed at a vehicle so as to have a field of view exterior of the vehicle. The camera may include a fisheye lens. An image processor is operable to process image data captured by the camera. The vision system provides enhanced camera calibration using a monoview noncoplanar three dimensional calibration pattern. The system may include a plurality of cameras configured to be disposed at the vehicle so as to have respective fields of view exterior of the vehicle.