1. A method for auto-tuning a handheld scanning device, the method comprising the steps of: a) acquiring a plurality of images of an image scene using the handheld scanning device, the acquiring including varying at least one parameter as part of an auto-tuning process, the image scene including at least one target; b) estimating an orientation of the handheld scanning device relative to the at least one target for at least a portion of the plurality of images; c) determining that the orientation of the handheld scanning device relative to the at least one target has changed in an amount that exceeds a pre-determined value for a pre-determined time period; and d) terminating the auto-tuning process.