1. A method for estimating egomotion of a camera mounted on a vehicle, comprising the steps of: (a) receiving a pair of frames from a plurality of frames from the camera, the first frame being assigned to a previous frame and an anchor frame and the second frame being assigned to a current frame; (b) extracting features from the previous frame and the current frame; (c) finding correspondences between extracted features from the previous frame and the current frame; and (d) estimating the relative pose of the camera by minimizing reprojection errors from the correspondences to the anchor frame.