1. A computer-implemented process for calibrating a set of cameras comprising the process actions of: capturing an image with each camera of a set of cameras simultaneously wherein one camera is a master camera and the other cameras are slave cameras; extracting feature points in each image from each of the set of cameras; using the extracted feature points, estimating a set of inter-image homographies; determining a linear solution of extrinsic camera parameters for each camera using said estimated set of estimated inter-image homographies.