Disclosed are systems, devices, and methods for synthesizing spatially-aware transitions between camera viewpoints. An exemplary method includes receiving images of a surgical site from a first camera, tracking a position of a robotic arm including a second camera coupled thereto, tracking the pose of the second camera, receiving images of the surgical site from the second camera that are different from the images received from the first camera as the robotic arm is moved to different positions, comparing a pose from which at least one of the images received from the second camera were captured to a pose from which at least one of the images received from the first camera were captured, generating a transition between the compared images, and displaying the transition when switching between displaying images received from the first and second cameras.