The present disclosure relates to systems and methods for calibrating a multi-camera navigation system for a vehicle. In one implementation, at least one processing device may receive first and second image frames acquired by a first camera onboard the vehicle; receive first and second image frames acquired by a second camera onboard the vehicle; determine a first ego-motion signal, including an indication of a change in position of the first camera relative to capture times associated with the first and second image frames acquired by the first camera; determine a second ego-motion signal, including an indication of a change in position of the second camera relative to capture times associated with the first and second image frames acquired by the second camera; and determine a relative orientation between the first camera and the second camera based on the first ego-motion signal and the second ego-motion signal.