A system and a method for image alignment between at least two images to a three-dimensional model. The method including: determining a lower bound and an upper bound of an acceptable likelihood of mismatch between the at least two images; evaluating the likelihood of mismatch between the at least two images over a set of poses (r), shifts (t), or both poses (r) and shifts (t); and discarding those evaluations resulting beyond the lower bound and upper bound.