1. A method of aligning a pair of images comprising the steps of: providing a pair of images with a first image and a second image, wherein said images comprise a plurality of intensities corresponding to a domain of points in a D-dimensional space, identifying salient feature regions in both the first image and the second image; hypothesizing a correspondence between each pair of salient feature regions, wherein a first region of each pair is on the first image and a second region of each pair is on the second image; measuring the likelihood of the hypothesized correspondence of each pair of feature regions; and determining a joint correspondence from a set of pairs of feature regions with the greatest likelihood of correspondence.