1. A method for generating an aerial image mosaic viewing at least a portion of a scene, the method comprising the steps of: acquiring a set of images from the scene using a camera; selective matching of consecutive image pairs from the set of images using tie points, each tie point having a large gradient in two directions of the image; cross matching of overlapping non-consecutive images pairs from the set of images using feature point descriptors; selecting a motion and structure model using a priori assumption on camera motion and scene properties; calculating three dimensional motion and structure parameters between image pairs, said three dimensional motion and structure parameters describe how feature points move due to movement of the scene and/or movement of the camera; implementing the three dimensional motion and structure parameters on the motion and structure model; globally optimizing the three dimensional motion and structure parameters to make the three dimensional motion and structure parameters converge to one consistent solution for the set of images; and generating the aerial image mosaic.