1. A method of aligning first and second images of a 3D scene with a 3D reference model of the 3D scene, comprising: gathering the first image of the 3D scene from a first viewpoint; gathering the second image of the 3D scene from a second viewpoint; aligning the first and second images with the 3D reference model, the image alignment comprising: computing by means of a computer prediction error information between the first image, the second image and the 3D reference model; and minimizing by the computer the prediction error information by refining pose estimates associated with the first and second viewpoints.