A method and apparatus for generating an image from raw sensor data. In one embodiment, the method comprises reading the raw sensor data from a sensor, the raw sensor data taken from a sensor at a sensor inertial state, generating an estimate of the sensor inertial state, retaining the raw sensor data while performing steps comprising: generating an image, the image generated at least in part from the estimated sensor inertial state and the raw sensor data and generating an updated estimate of the sensor inertial state, the updated estimate of the sensor inertial state generated at least in part from the generated image and the estimated sensor inertial state. Finally, an enhanced image is generated from the retained raw sensor data and the updated estimate of the sensor inertial state.