1. A method of determining an azimuth and an elevation of a point in a first image, the method comprising: positioning an imaging device at a first position; acquiring the first image at the first position, the first image including the point; performing a first rotation of the imaging device; acquiring a second image at the first position, wherein a portion of the first image overlaps a portion of the second image; determining correspondences between features in overlapping portions of the first image and the second image; determining a first transformation between coordinates of the first image and coordinates of the second image based on the correspondences; determining a second transformation between the coordinates of the second image and a local coordinate frame; and computing the azimuth and the elevation of the point based on the first transformation and the second transformation.