Abstract: A system for navigating a host vehicle receives a plurality of captured images acquired by at least one camera onboard the host vehicle. The system determines an actual velocity vector for the host vehicle based on the plurality of captured images and compares the actual velocity vector to an expected velocity vector. The system also determines a lateral slip angle based on an observed angular difference between the actual velocity vector and the expected velocity vector. The system causes the host vehicle navigation system to take at least one action based on the determined lateral slip angle.