A method for multi-camera self-supervised depth evaluation is described. The method includes training a self-supervised depth estimation model and an ego-motion estimation model according to a multi-camera photometric loss associated with a multi-camera rig of an ego vehicle. The method also includes generating a single-scale correction factor according to a depth map of each camera of the multi-camera rig during a time-step. The method further includes predicting a 360° point cloud of a scene surrounding the ego vehicle according to the self-supervised depth estimation model and the ego-motion estimation model. The method also includes scaling the 360° point cloud according to the single-scale correction factor to form an aligned 360° point cloud.