1. A method of determining an azimuth and an elevation of a point in a real world coordinate system, the method comprising: positioning an imaging device at a first position, the imaging device calibrated to provide a relationship between a coordinate frame associated with the imaging device and a coordinate frame associated with images acquired by the imaging device; acquiring a first image at the first position, the first image including the point; performing a first rotation of the imaging device without substantially changing an optical center of the imaging device; acquiring a second image at the first position, where a portion of the first image overlaps a portion of the second image; determining correspondences between features in overlapping portions of the first image and the second image; determining a first transformation between coordinates of the first image and coordinates of the second image based on the correspondences; determining a second transformation between the coordinates of the first image or the coordinates of the second image and the real world coordinate system using the relationship between the coordinate frame associated with the imaging device and the coordinate frame associated with images acquired by the imaging device; and computing the azimuth and the elevation of the point in the real world coordinate system based on the first transformation and the second transformation.