Systems and methods for self-supervised depth estimation using image frames captured from a plurality of cameras mounted on a vehicle, may include: receiving a first image from a camera mounted at a first location on the vehicle, the source image comprising pixels representing a scene of the environment of the vehicle; receiving a reference image from a camera mounted at a second location on the vehicle, the reference image comprising pixels representing a scene of the environment; predicting a depth map for the first image, the depth map comprising predicted depth values for pixels of the first image; warping the first image to a perspective of the camera mounted at the second location on the vehicle to arrive at a warped first image; projecting the warped first image onto the source image; determining a loss based on the projection; and updating the predicted depth values for the first image.