A method synchronizes autofocus in a system having a master camera and a slave camera. The method comprises: focusing the slave camera based on a map and a result of an autofocus operation by the master camera, while capturing each of a plurality of images. The map relates a plurality of master camera lens positions of the master camera to corresponding slave camera lens positions of the slave camera. An autofocus operation is periodically performed in the slave camera to determine an additional slave camera lens position for an additional image. The map is adaptively updated, based at least partially on the additional slave camera lens position.