A method includes receiving a sequence of medical images captured by a medical imaging device while the medical imaging device travels through a rotation, and showing an area of interest including a plurality of landmarks; determining a pose of each of a subset of the sequence of medical images in which the landmarks are visible; estimating a trajectory of the medical imaging device based on the determined poses of the subset and a trajectory constraint of the imaging device; determining a pose of one of the medical images in which the landmarks are not visible by extrapolating based on an assumption of continuity of movement of the medical imaging device; and determining a volumetric reconstruction for the area of interest based at least on at least some of the poses of the subset and the pose of the one of the medical images in which the landmarks are not visible.