The disclosed technology includes techniques for providing improved video stabilization on a mobile device. Using gyroscope data of the mobile device, the physical camera orientation of the mobile device may be estimated over time. Using the physical camera orientation and historical data, corresponding virtual camera orientations representing a camera orientation with undesired rotational movement removed may be modeled using a non-linear filter to provide for mapping of a real image to a stabilized virtual image. The virtual camera orientation may be modified to prevent undefined pixels from appearing in the output image.