A method and a system of stitching a plurality of views of a scene, the method including extracting points of interest in each view to include a point set from each of the plurality of image views of the scene, matching the points of interest and reducing an outlier, grouping the matched points of interest in a plurality of groups, determining a similarity transformation with a smallest rotation angle for each grouping of the match points, generating virtual matching points on a non-overlapping area of the plurality of image views, generating virtual matching points on an overlapping area for each of the plurality of image views, and calculating piecewise projective transformations for the plurality of image views.