A method for text recognition and tracking on a mobile station, MS, the method comprising: obtaining a first reference frame by performing Optical Character Recognition, OCR, on an image frame captured by a camera on the MS to locate and recognize a first text block; selecting a subsequent image frame from a set of subsequent image frames, based on parameters associated with the selected subsequent image frame; obtaining a second reference frame by performing OCR on the selected subsequent image frame to recognize a second text block; and determining a geometric relationship between the first text block and the second text block, wherein the geometric relationship is determined based, at least in part, on: a position of the first text block in the second reference frame, and a camera pose associated with the second reference frame; wherein selecting the subsequent image frame further comprises: computing camera poses for the set of subsequent image frames, each camera pose associated with a distinct subsequent image frame and determined based, at least in part, on aligning the associated subsequent image frame with the first reference frame, and determining, based, at least in part, on the computed camera poses, parameters associated with corresponding image frames in the set of subsequent image frames; wherein the aligning is performed using Efficient Second-order Minimization, ESM; and wherein the ESM operates on a lower resolution version of the associated subsequent image frame. obtaining a first reference frame by performing Optical Character Recognition, OCR, on an image frame captured by a camera on the MS to locate and recognize a first text block; selecting a subsequent image frame from a set of subsequent image frames, based on parameters associated with the selected subsequent image frame; obtaining a second reference frame by performing OCR on the selected subsequent image frame to recognize a second text block; and determining a geometric relationship between the first text block and the second text block, wherein the geometric relationship is determined based, at least in part, on: a position of the first text block in the second reference frame, and a camera pose associated with the second reference frame; a position of the first text block in the second reference frame, and a camera pose associated with the second reference frame; wherein selecting the subsequent image frame further comprises: computing camera poses for the set of subsequent image frames, each camera pose associated with a distinct subsequent image frame and determined based, at least in part, on aligning the associated subsequent image frame with the first reference frame, and determining, based, at least in part, on the computed camera poses, parameters associated with corresponding image frames in the set of subsequent image frames; computing camera poses for the set of subsequent image frames, each camera pose associated with a distinct subsequent image frame and determined based, at least in part, on aligning the associated subsequent image frame with the first reference frame, and determining, based, at least in part, on the computed camera poses, parameters associated with corresponding image frames in the set of subsequent image frames; wherein the aligning is performed using Efficient Second-order Minimization, ESM; and wherein the ESM operates on a lower resolution version of the associated subsequent image frame.