1. A method for providing a non-rigid transformation for an articulated body comprising: selecting, based on input image data, a plurality of target positions for matching a kinematic model representing an articulated body, wherein the kinematic model comprises a pose based on initial kinematic model parameters that provide spatial relationships of elements of the kinematic model; generating a plurality of virtual end-effectors corresponding to the target positions based on the plurality of target positions and the kinematic model; generating an inverse kinematics problem comprising a Jacobian matrix based on the initial kinematic model parameters, the target positions, and the virtual end-effectors; determining a change in the kinematic model parameters based on the inverse kinematics problem; repeating the selecting the plurality of target positions, generating the plurality of virtual end-effectors, generating the inverse kinematics problem, and determining the change in the kinematic model parameters until a convergence is attained; and outputting resultant kinematic model parameters associated with the convergence.