A method of calibrating a vehicular multi-camera system includes equipping a vehicle with a plurality of cameras wherein each camera of the plurality of cameras captures image data, equipping the vehicle with an image processor, inputting image data from each of the plurality of cameras to the image processor, the image processor processing input image data in order to calibrate the vehicular multi-camera system, and wherein calibration of the vehicular multi-camera system is achieved independently of a model of the real world.