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, wherein the steps of determining pose parameters includes the steps of defining a warping function that simultaneously minimizes an error between successive images; and warping one image to another image with the warping function; (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.