A method of georeferencing a first image of a scene acquired from a first imaging device based on at least one second image of the scene acquired from a second imaging device. The method includes obtaining data indicative of an eligibility parameter for one or more areas of the scene; selecting one or more pivot areas among the one or more areas of the scene, wherein the eligibility parameter of the pivot areas satisfy a predefined criterion; for at least some of the selected pivot areas, identifying tie points for the first and second images; and solving the external orientation of the first image using the identified tie points and a first imaging device model.