A method for compensating for off-axis tilting of a lens relative to an image sensor in an image acquisition device comprises acquiring a set of calibrated parameters n → ≡ ( n x n y n z ) corresponding to the tilting of said lens. P′x and P′y indicate a coordinate of a pixel in an acquired image. Image information is mapped from the acquired image to a lens tilt compensated image according to the formulae: P x ′ = s n z ⁡ ( n z - 1 ) ⁢ ( ( n x 2 + n z ⁡ ( n z - 1 ) ) ⁢ u x + n x ⁢ n y ⁢ u y ) P y ′ = s n z ⁡ ( n z - 1 ) ⁢ ( ( n y 2 + n z ⁡ ( n z - 1 ) ) ⁢ u y + n x ⁢ n y ⁢ u x ) where s comprises a scale factor given by s = n z u x ⁢ n x + u y ⁢ n y + n z and where ux and uy indicate the location of a pixel in the lens tilt compensated image.