A camera having a gyro and accelerometer stabilizes a video recording by the following steps. First, gyro data and acceleration data are synchronized with a frame of video data. The gyro data and the acceleration data are fused together to get a space domain rotation matrix that corresponds to the frame. The frame is adjusted based on the space domain rotation matrix. Next, at least one feature of the adjusted frame is detected. A modified rotation matrix is determined by comparing the at least one detected feature of the adjusted frame with a corresponding feature in a neighboring frame of the video data. Finally, the adjusted frame is further adjusted based on the modified rotation matrix.