1. A method of stitching together a first and second image, the method comprising: warping the first and second images into an environment map representative of a panoramic image; detecting a first edge for the first warped image and a corresponding second edge of the second warped image; determining a set of edge position coordinates from each of the detected first and second edges; generating a set of possible matched solutions from the edge position coordinates of the detected first and second edges; and determining an optimum matched offset of the first image relative to the second image from the set of possible matched solutions.