A method for generating a parallax-tolerant panoramic image includes obtaining a point cloud captured by a depth sensor, the point cloud representing a support structure bearing a set of objects; obtaining a set of images of the support structure and the set of objects, the set of images captured by an image sensor from a plurality of positions alongside a length of the support structure; generating a mesh structure using the point cloud, the mesh structure including a plurality of patches and representing a surface of the support structure and the set of objects; for each patch in the mesh structure, selecting an image from the set of images and projecting the selected image to the mesh patch; and generating an orthographic projection of the mesh structure onto a shelf plane of the support structure.