1. A computer implemented method for relating corresponding points in a plurality of images with an overlapping scene, the method comprising: receiving a first image and a second image, the first image having a coordinate system; detecting first feature points for the first image; extracting first texture descriptors from the first feature points; generating a plurality of transformed images of the second image using different image transformations for each of transformed images; detecting second feature points for each of the transformed images; extracting second texture descriptors from each of the transformed images; determining a texture similarity between the first texture descriptors from the first image and the second texture descriptors from each of the transformed images; identifying matched feature points from the first image and each of the transformed images with an associated texture similarity above a similarity threshold; selecting inliers from matched feature points, the inliers are matched feature points that fit a model with a distance less than a distance threshold; generating an aligning transformation using the inliers for at least one of the transformed images; aligning the first image and the at least one of the transformed images using the aligning transformation such that the second image is transformed to the coordinate system to the first image; and creating a panorama image with the first image and the transformed second image after the first image and the second image are aligned.