1. A method for estimating orientation of cameras mounted on vehicles, comprising: determining, by one or more processors, an initial pose estimate of a vehicle having a camera mounted thereon, the initial pose estimate being a position and orientation of the vehicle relative to the world; processing, by the one or more processors, image data from images captured by the camera to obtain one or more tracks, each track including a sequence of matched feature points stemming from a single three-dimensional location; determining, by the one or more processors, from the initial pose estimate and the tracks, a correction parameter to correct orientations of the images captured by the camera for each of a plurality of subsequences of one or more runs, wherein determining the correction parameter, for each plurality of subsequences of one or more runs, includes evaluating a set of vehicle poses, three-dimensional locations from the one or more tracks, and an orientation of the camera relative to one or more sensors of the vehicle; and performing statistical analysis on the determined correction parameters for each plurality of subsequences to determine a median value of the determined correction parameters.