A computer-implemented method for registration of image data comprising a plurality of voxels relating to an image coordinate and a time point; the method comprising optimizing a parametric function by optimizing an optimization term, wherein the optimization term comprises a difference between the voxel value at a first image coordinate and at a first time point corresponding to a first image frame, and the voxel value at a second image coordinate, obtained by adding a motion vector to the first image coordinate, at a second time point corresponding to a second image frame, wherein the added motion vector is the output of the parametric function when inputting the first image coordinate, and wherein the parametric function is optimized by calculating the optimization term for a plurality of voxels at the first and second time points and iteratively adapting the parametric function.