1. A method for aligning plural overlapping images useful in constructing a mosaic, comprising: computing a planar perspective transformation between each overlapping pair of said images; computing, from said planar perspective transformation, a focal length of each image of said pair; computing from said focal length of each image a focal length transformation; computing a rotational transformation for each of said pair of images whereby a combination of said rotational transformation and said focal length transformation relates the respective image to a three-dimensional coordinate system; and reducing registration errors between said pair of images by incrementally deforming said rotational transformation of one of said pair of images.