A method for processing video data of an environment, the method comprising: with aid of one or more processors individually or collectively: obtaining a plurality of previously traversed positions of an imaging device (108-1, 108-2, 206, 208, 302, 304, 306, 702, 704, 706, 802, 804, 806, 820) located on a movable object (102, 202, 900), wherein the one or more previously traversed positions are obtained using at least one sensor (710, 810) on the movable object (102, 202, 900); obtaining a plurality of reference positions of the imaging device based on the plurality of previously traversed positions, wherein the plurality of reference positions are obtained at different points in time while at least one of the imaging device or the movable object is in motion generating a virtual motion path of the imaging device based on the plurality of reference positions; obtaining substantially in real-time on the virtual motion path a reference position of the imaging device (108-1, 108-2, 206, 208, 302, 304, 306, 702, 704, 706, 802, 804, 806, 820) based on the one or more previously traversed positions of the imaging device (108-1, 108-2, 206, 208, 302, 304, 306, 702, 704, 706, 802, 804, 806, 820); and modifying an image frame (110-1, 110-2, 210-1, 210-2, 304-1, 304-2, 306-1, 306-2, 322-1, 322-2, 324-1, 324-2, 412-1, 412-2, 704-1, 704-2, 706-1, 706-2, 734-1, 734-2, 736-1, 736-2, 804-1, 804-2, 806-1, 806-2, 832-1, 834-2, 834-1, 834-2) in the video data based on the reference position of the imaging device (108-1, 108-2, 206, 208, 302, 304, 306, 702, 704, 706, 802, 804, 806, 820) and an actual position of the imaging device (108-1, 108-2, 206, 208, 302, 304, 306, 702, 704, 706, 802, 804, 806, 820) at which the image frame (110-1, 110-2, 210-1, 210-2, 304-1, 304-2, 306-1, 306-2, 322-1, 322-2, 324-1, 324-2, 412-1, 412-2, 704-1, 704-2, 706-1, 706-2, 734-1, 734-2, 736-1, 736-2, 804-1, 804-2, 806-1, 806-2, 832-1, 834-2, 834-1, 834-2) is taken; characterized in that generating the virtual motion path comprises filtering out one or more previously traversed positions that do not overlap with the reference positions. obtaining a plurality of previously traversed positions of an imaging device (108-1, 108-2, 206, 208, 302, 304, 306, 702, 704, 706, 802, 804, 806, 820) located on a movable object (102, 202, 900), wherein the one or more previously traversed positions are obtained using at least one sensor (710, 810) on the movable object (102, 202, 900); obtaining a plurality of reference positions of the imaging device based on the plurality of previously traversed positions, wherein the plurality of reference positions are obtained at different points in time while at least one of the imaging device or the movable object is in motion generating a virtual motion path of the imaging device based on the plurality of reference positions; obtaining substantially in real-time on the virtual motion path a reference position of the imaging device (108-1, 108-2, 206, 208, 302, 304, 306, 702, 704, 706, 802, 804, 806, 820) based on the one or more previously traversed positions of the imaging device (108-1, 108-2, 206, 208, 302, 304, 306, 702, 704, 706, 802, 804, 806, 820); and modifying an image frame (110-1, 110-2, 210-1, 210-2, 304-1, 304-2, 306-1, 306-2, 322-1, 322-2, 324-1, 324-2, 412-1, 412-2, 704-1, 704-2, 706-1, 706-2, 734-1, 734-2, 736-1, 736-2, 804-1, 804-2, 806-1, 806-2, 832-1, 834-2, 834-1, 834-2) in the video data based on the reference position of the imaging device (108-1, 108-2, 206, 208, 302, 304, 306, 702, 704, 706, 802, 804, 806, 820) and an actual position of the imaging device (108-1, 108-2, 206, 208, 302, 304, 306, 702, 704, 706, 802, 804, 806, 820) at which the image frame (110-1, 110-2, 210-1, 210-2, 304-1, 304-2, 306-1, 306-2, 322-1, 322-2, 324-1, 324-2, 412-1, 412-2, 704-1, 704-2, 706-1, 706-2, 734-1, 734-2, 736-1, 736-2, 804-1, 804-2, 806-1, 806-2, 832-1, 834-2, 834-1, 834-2) is taken; the reference position of the imaging device (108-1, 108-2, 206, 208, 302, 304, 306, 702, 704, 706, 802, 804, 806, 820) and an actual position of the imaging device (108-1, 108-2, 206, 208, 302, 304, 306, 702, 704, 706, 802, 804, 806, 820) at which the image frame (110-1, 110-2, 210-1, 210-2, 304-1, 304-2, 306-1, 306-2, 322-1, 322-2, 324-1, 324-2, 412-1, 412-2, 704-1, 704-2, 706-1, 706-2, 734-1, 734-2, 736-1, 736-2, 804-1, 804-2, 806-1, 806-2, 832-1, 834-2, 834-1, 834-2) is taken; characterized in that generating the virtual motion path comprises filtering out one or more previously traversed positions that do not overlap with the reference positions.