An imaging system, comprising: a probe adapted to be placed on or near the surface of a subject to acquire image data of a structure of interest of the subject beneath the surface, wherein the probe comprises: an imaging transducer for obtaining the image data; a first camera adapted to acquire images of the surface; a second camera adapted to acquire complementary information from the environment, the second camera being arranged to point to a remote scene of the environment comprising one or more fixed features, the distance between the second camera and the remote scene being greater than the distance between the first camera and the surface, wherein the second camera is adapted to identify a movement of the one or more fixed features in the captured images of the remote scene as the position and/or orientation of the probe changes, wherein the imaging transducer, the first camera and second camera have fixed positional and orientational relationship with respect to the probe; and a processor, adapted to synchronously process the acquired image data from the imaging transducer and the acquired images from the first and second cameras to construct a surface model of (i) the shape and texture of the surface of the subject based on the images of the surface and (ii) the environment based on the second camera complementary information, and track the position and/or orientation of the probe on the surface based on the constructed surface model of the shape and texture of the surface of the subject and of the environment; and a processor adapted to stitch the image data acquired at different positions and/or orientations based on the tracked position and/or orientation of the probe. a probe adapted to be placed on or near the surface of a subject to acquire image data of a structure of interest of the subject beneath the surface, wherein the probe comprises: an imaging transducer for obtaining the image data; a first camera adapted to acquire images of the surface; a second camera adapted to acquire complementary information from the environment, the second camera being arranged to point to a remote scene of the environment comprising one or more fixed features, the distance between the second camera and the remote scene being greater than the distance between the first camera and the surface, wherein the second camera is adapted to identify a movement of the one or more fixed features in the captured images of the remote scene as the position and/or orientation of the probe changes, wherein the imaging transducer, the first camera and second camera have fixed positional and orientational relationship with respect to the probe; and a processor, adapted to synchronously process the acquired image data from the imaging transducer and the acquired images from the first and second cameras to construct a surface model of (i) the shape and texture of the surface of the subject based on the images of the surface and (ii) the environment based on the second camera complementary information, and track the position and/or orientation of the probe on the surface based on the constructed surface model of the shape and texture of the surface of the subject and of the environment; and a processor adapted to stitch the image data acquired at different positions and/or orientations based on the tracked position and/or orientation of the probe. an imaging transducer for obtaining the image data; a first camera adapted to acquire images of the surface; a second camera adapted to acquire complementary information from the environment, the second camera being arranged to point to a remote scene of the environment comprising one or more fixed features, the distance between the second camera and the remote scene being greater than the distance between the first camera and the surface, wherein the second camera is adapted to identify a movement of the one or more fixed features in the captured images of the remote scene as the position and/or orientation of the probe changes, wherein the imaging transducer, the first camera and second camera have fixed positional and orientational relationship with respect to the probe; and a processor, adapted to synchronously process the acquired image data from the imaging transducer and the acquired images from the first and second cameras to construct a surface model of (i) the shape and texture of the surface of the subject based on the images of the surface and (ii) the environment based on the second camera complementary information, and track the position and/or orientation of the probe on the surface based on the constructed surface model of the shape and texture of the surface of the subject and of the environment; and a processor adapted to stitch the image data acquired at different positions and/or orientations based on the tracked position and/or orientation of the probe.