An imaging system comprising: a detector configured to obtain radiation data from one or more sources (16, 18, 20), the radiation data including a plurality of events; a controller configured to receive the radiation data, the controller having a processor and tangible, non-transitory memory on which instructions are recorded; wherein execution of the instructions by the processor causes the controller to: define a plurality of buffers based on at least one initial condition and designate one of the plurality of buffers as a current buffer; receive an individual event of the plurality of events and determine if the individual event falls within the current buffer; align the plurality of events in the current buffer in a two-dimensional space; reconstruct the plurality of events in the current buffer in a three-dimensional space, the reconstruction being done once for each of the plurality of buffers; and create a three-dimensional image based in part on the reconstruction in the three-dimensional space; and wherein prior to aligning the plurality of events in the current buffer in the two-dimensional space, the controller is configured to correct each of the plurality of events within the current buffer for pose, characterised in that correcting the plurality of events within the current buffer includes time-tagging the plurality of events with a respective event time; obtaining a respective detector pitch, a respective detector yaw and a respective detector roll of the detector at the respective event time; and shifting the plurality of events in angular space by the respective detector pitch, the respective detector yaw and the respective detector roll. a detector configured to obtain radiation data from one or more sources (16, 18, 20), the radiation data including a plurality of events; a controller configured to receive the radiation data, the controller having a processor and tangible, non-transitory memory on which instructions are recorded; wherein execution of the instructions by the processor causes the controller to: define a plurality of buffers based on at least one initial condition and designate one of the plurality of buffers as a current buffer; receive an individual event of the plurality of events and determine if the individual event falls within the current buffer; align the plurality of events in the current buffer in a two-dimensional space; reconstruct the plurality of events in the current buffer in a three-dimensional space, the reconstruction being done once for each of the plurality of buffers; and create a three-dimensional image based in part on the reconstruction in the three-dimensional space; and define a plurality of buffers based on at least one initial condition and designate one of the plurality of buffers as a current buffer; receive an individual event of the plurality of events and determine if the individual event falls within the current buffer; align the plurality of events in the current buffer in a two-dimensional space; reconstruct the plurality of events in the current buffer in a three-dimensional space, the reconstruction being done once for each of the plurality of buffers; and create a three-dimensional image based in part on the reconstruction in the three-dimensional space; and wherein prior to aligning the plurality of events in the current buffer in the two-dimensional space, the controller is configured to correct each of the plurality of events within the current buffer for pose, characterised in that correcting the plurality of events within the current buffer includes time-tagging the plurality of events with a respective event time; obtaining a respective detector pitch, a respective detector yaw and a respective detector roll of the detector at the respective event time; and shifting the plurality of events in angular space by the respective detector pitch, the respective detector yaw and the respective detector roll. time-tagging the plurality of events with a respective event time; obtaining a respective detector pitch, a respective detector yaw and a respective detector roll of the detector at the respective event time; and shifting the plurality of events in angular space by the respective detector pitch, the respective detector yaw and the respective detector roll.