A system, method and computer program product for relating corresponding points in images with an overlapping scene. An example method includes generating transformed images of a target image using different image transformations for each of transformed images. Texture descriptors are extracted for feature points in the transformed images and a reference image. Matched feature points are identified and inliers from matched feature points are selected. An aligning transformation is generated using the inliers for at least one of the transformed images. A panorama image is created with the target image and reference image after the images are aligned.