Presented are a method, apparatus, and computer-readable medium for stitching. The method includes sensing, by a first sensor, a movement of a work piece relative to a sewing head. The method further includes sensing, by a second sensor, a movement of the work piece relative to the sewing head. The method includes determining, by a processor, a translational and rotational movement of the work piece relative to the sewing head based on the sensed movement of the first sensor and the second sensor. The method also includes altering, by the processor, a speed of a reciprocating needle in response to the determined translational and rotational movement.