A method for rendering a mosaic representation of an object from a series of image frames of the object, the method comprising: acquiring a current image frame of the object; determining a current image frame tracking position, within the mosaic representation, of the current image frame, that current image frame tracking position being based on a previous image frame position of a previous image frame and a relative displacement of the current image frame from the previous image frame; characterized in that, the method further comprises: identifying at least one neighboring keyframe within a search area defined relative to the current image frame tracking position, the at least one neighboring keyframe being one of a plurality of keyframes stored in a keyframe database, each keyframe having an associated keyframe position; determining relative displacements of the current image frame from each of the at least one neighboring keyframe; determining individual estimates of the current image frame position of the current image frame based on the keyframe positions of each of the at least one neighboring keyframe and the relative displacement of the current image frame from each of the at least one neighboring keyframe; determining a current image frame position as an average of the individual estimates of the current image frame positions; storing the current image frame as a new keyframe in the keyframe database upon determining that each of the relative displacements of the current image frame from each of the at least one neighboring keyframe is greater than a threshold value; storing the current image frame position as a new keyframe position associated with the new keyframe in the keyframe database; rendering the current image frame at its current image frame position and the keyframes from the keyframe database on a display at their respective associated keyframe positions to obtain the mosaic representation of the object. acquiring a current image frame of the object; determining a current image frame tracking position, within the mosaic representation, of the current image frame, that current image frame tracking position being based on a previous image frame position of a previous image frame and a relative displacement of the current image frame from the previous image frame; identifying at least one neighboring keyframe within a search area defined relative to the current image frame tracking position, the at least one neighboring keyframe being one of a plurality of keyframes stored in a keyframe database, each keyframe having an associated keyframe position; determining relative displacements of the current image frame from each of the at least one neighboring keyframe; determining individual estimates of the current image frame position of the current image frame based on the keyframe positions of each of the at least one neighboring keyframe and the relative displacement of the current image frame from each of the at least one neighboring keyframe; determining a current image frame position as an average of the individual estimates of the current image frame positions; storing the current image frame as a new keyframe in the keyframe database upon determining that each of the relative displacements of the current image frame from each of the at least one neighboring keyframe is greater than a threshold value; storing the current image frame position as a new keyframe position associated with the new keyframe in the keyframe database; rendering the current image frame at its current image frame position and the keyframes from the keyframe database on a display at their respective associated keyframe positions to obtain the mosaic representation of the object.