Accurate Image Alignment to a 3D Model

Methods and devices for acquiring, and aligning, an image with a textured three-dimensional (3D) model are described. In one implementation, aligning can include rendering an image in the 3D model at an estimated pose and then aligning the acquired image with the rendered image. In another implementation, aligning can include projecting the acquired image onto the 3D model at an estimated pose and then aligning the projected acquired image with the textured 3D model. In still another embodiment, aligning can include projecting the acquired image onto the textured 3D model, rendering a first image in the original 3D model and a second image in the 3D model onto which the acquired image has been projected, and then aligning the first and second images.