1. A method for creating a mosaiced image of an inner surface of a body lumen, comprising the steps of: (a) moving an imaging device through the body lumen; (b) capturing a video sequence comprising successive images of the inner surface of the body lumen as the imaging device is moved through the body lumen; (c) determining pose parameters defining a position and an orientation for the imaging device, when capturing the video sequence of the inner surface of the body lumen; (d) based upon the pose parameters, projecting the successive images onto a model of the inner surface, to form a texture-mapped model; and (e) transforming the textured mapped model into the mosaiced image that is on a generally flat surface.