Disclosed are systems, apparatus, devices, method, computer program products, and other implementations, including a method that includes capturing an image of a scene by an image capturing unit of a device that includes at least one sensor, determining relative device orientation of the device based, at least in part, on determined location of at least one vanishing point in the captured image of the scene, and performing one or more calibration operations for the at least one sensor based, at least in part, on the determined relative device orientation.