Various embodiments of the present technology may comprise a method and apparatus for an on-vehicle camera system capable of calibrating the camera's orientation (i.e. pitch, yaw, roll angles) in relation to the vehicle's coordinate system utilizing normally-encountered imagery. The method and apparatus may comprise utilizing an image processor to detect features from pixel data of image frames, match features, provide an estimated orientation, and validate the orientation. A system utilizing the method and apparatus may transmit the camera's orientation with respect to the vehicle coordinate system to a peripheral system.