Techniques for aligning images are disclosed. The frames might have been captured by a video camera on a hand held device, as one example. Collaboratively aligning related frames of image data is taught. Collaborative alignment determines a correspondence between pixels in pairs of the frames of image data, as well as a confidence in that correspondence. A coordinate system (or transformation) is assigned to each of the frames that is consistent with the correspondences between each of the frame pairs. The confidence in the respective correspondences may be used to provide a weighting to a correspondence when assigning the coordinate systems. Outlying frames may be discarded, and the process repeated for a robust solution.