A projection system for displaying an arbitrary combination of superimposed and tiled images using a plurality of projectors. A sub-frame generator generates a plurality of sub-frames corresponding to an image frame for simultaneous display by the projectors in at least partially overlapping positions on a display surface. The sub-frames are generated using optimal sub-pixel blending maps that are derived by forming a simulated image to approximate a target image subject to at least one smoothing constraint between the simulated image and the target image. The target image is formed from the image frame using at least one property (e.g., luminance or color) of each of the plurality of projectors.