1. A method for providing online calibration of a plurality of cameras in a surround-view camera system on a vehicle, said method comprising: providing consecutive images from each of the cameras in the surround-view camera system where an image from a forward looking camera overlaps an image from a right looking camera, an image from the forwarding looking camera overlaps an image from a left looking camera, an image from a rear looking camera overlaps an image from the right looking camera and an image from the rear looking camera overlaps an image from the left looking camera; identifying matching feature points in overlap areas of the images from the forward looking camera, the left looking camera, the right looking camera and the rear looking camera; estimating camera parameters in world coordinates for each of the cameras; estimating a vehicle pose of the vehicle in world coordinates; and determining camera extrinsic parameters in vehicle coordinates using the estimated camera parameters in the world coordinates and the estimated vehicle pose in the world coordinates where the camera extrinsic parameters define an online calibration of the particular camera.