Rigid body transformation between 4 cameras

Hello OpenCV community,

I have 4 cameras placed in the corners of a room and would like to estimate the rotation and translation of the cameras to one of those 4 cameras. I was going to estimate R and t based on the essential matrix between camera 1 and 2, camera 1 and 3, and camera 1 and 4. Since the essential matrix only depends on 2 views I was wondering if there is a smarter way of taking advantage of having 4 views to determine R and t? Are there any good guides or tutorials for such a multi-view calibration available? A quick google search didnt lead to success.

Thank you in advance!