A system for fusing images to account for motion compensation includes an imaging modality configured to obtain a baseline image and current images. A live tracking system is configured to track an imaging instrument for capturing the baseline image and the current images, the live tracking system having a coordinate system registered with the baseline image and the current images. A pose analyzer unit is configured to employ field of view differences between a pose for the baseline image and a pose for a current view image using the live tracking system to generate success parameters. The success parameters are conveyed to the user to provide feedback on image acquisition for motion compensation between the baseline image and the current view image.