1. A method comprising: obtaining, from an image capture device coupled to a robot, an image of an environment from a perspective of the robot; receiving, from a depth sensor coupled to the robot, one or more depth measurements, wherein the depth measurements correspond to locations within the image, and wherein the depth measurements are indicative of distances between the image capture device and a surface in the environment; determining first boundaries around a particular location within a section of the image, wherein the particular location corresponds to a particular depth measurement of the one or more depth measurements, and wherein the particular location is approximately centered within the first boundaries; determining an extent of deviation of a particular position of the image capture device from a reference position, wherein the particular position is a position of the image capture device at a point in time at which the image was captured; determining second boundaries by shifting the first boundaries by an amount proportional to the determined extent of deviation; and providing, to a display device, a portion of the image defined by the second boundaries.