Abstract: A method and system for correcting alignment of images received from cameras by estimating camera alignment parameters based on perturbative correction such that corrected alignment parameters satisfy pairwise epipolar constraints as well as global loop closure constraints. The corrected alignment parameters are estimated as a Least-Mean-Square solution to a system of linear equations and an estimation algorithm may be implemented as a part of a Random Sample Consensus criterion estimation for improved robustness. The method and system is fast and efficient and may be implemented in a real-time system.