1. A method comprising: receiving, by a processor and from a depth sensor coupled to a robot, one or more depth measurements, wherein the depth measurements correspond to locations within an image that was captured by an image capture device coupled to the robot, wherein the image capture device was in a particular position when the image was captured, and wherein the depth measurements are indicative of distances between the image capture device and surfaces of an environment depicted in the image; determining, by the processor, first boundaries around a location within the image, wherein the location was measured by a particular depth measurement of the one or more depth measurements; determining, by the processor, a deviation of the particular position of the image capture device from a reference position; determining, by the processor, second boundaries by shifting the first boundaries by an amount proportional to the deviation; and providing, to a display device, a portion of the image enclosed within the second boundaries.