1. In a system comprising a processor and a memory for storing a plurality of point correspondences (PCs) between two images of a same scene or object obtained from one or more cameras, a method for determining an output image relation model relating the two images, comprising: a) using the processor to perform a series of PC sampling steps, each comprising: i) selecting a PC subset from the plurality of PCs utilizing a weighted random or pseudo-random selection algorithm wherein individual PCs are selected in dependence upon current values of weight parameters assigned thereto, ii) computing an image relation model estimate based on the PC subset, and iii) obtaining information related to an accuracy of the image relation model estimate for the plurality of PCs; b) obtaining, with the processor, the output image relation model using the information related to the accuracy of the computed image relation model estimates; and, c) saving the image relation model in a computer-readable memory for generating new images; wherein the current values of the weight parameters assigned to the PCs remain generally constant in a first K PC sampling steps, wherein K is an integer greater than 1, and wherein in at least one of the PC sampling steps following the first K PC sampling steps, the current values of the weight parameters are updated by the processor using the image relation model estimate computed in said at least one of the PC sampling steps.