A computer system configured to align and stabilize images generated by an integrated camera that is physically mounted to the computer system with images generated by a detached camera that is physically unmounted from the computer system , wherein the computer system is a head-mounted device, HMD, worn by a user, and wherein the detached camera is oriented to cause a field of view, FOV, of the detached camera to at least partially overlap a FOV of the integrated camera, said computer system comprising: one or more processors ; and one or more computer-readable hardware storage devices that store instructions that are executable by the one or more processors to cause the computer system to at least: generate a first image using the integrated camera ; use the first image to determine a first pose of the computer system ; determine a first timestamp of the first image ; acquire a second image generated by the detached camera ; align the second image to the first image ; generate an overlaid image by overlaying the second image onto the first image based on said aligning; identify a pose difference between a current pose of the computer system at a current timestamp and the first pose that was determined using the first image at the first timestamp ; apply late stage reprojection, LSR, to the overlaid image to transform pixels in the overlaid image to account for the pose difference identified between the current pose associated with the current timestamp and the first pose associated with the first timestamp ; and after applying the LSR to the overlaid image , display the overlaid image . one or more processors ; and one or more computer-readable hardware storage devices that store instructions that are executable by the one or more processors to cause the computer system to at least: generate a first image using the integrated camera ; use the first image to determine a first pose of the computer system ; determine a first timestamp of the first image ; acquire a second image generated by the detached camera ; align the second image to the first image ; generate an overlaid image by overlaying the second image onto the first image based on said aligning; identify a pose difference between a current pose of the computer system at a current timestamp and the first pose that was determined using the first image at the first timestamp ; apply late stage reprojection, LSR, to the overlaid image to transform pixels in the overlaid image to account for the pose difference identified between the current pose associated with the current timestamp and the first pose associated with the first timestamp ; and after applying the LSR to the overlaid image , display the overlaid image . generate a first image using the integrated camera ; use the first image to determine a first pose of the computer system ; determine a first timestamp of the first image ; acquire a second image generated by the detached camera ; align the second image to the first image ; generate an overlaid image by overlaying the second image onto the first image based on said aligning; identify a pose difference between a current pose of the computer system at a current timestamp and the first pose that was determined using the first image at the first timestamp ; apply late stage reprojection, LSR, to the overlaid image to transform pixels in the overlaid image to account for the pose difference identified between the current pose associated with the current timestamp and the first pose associated with the first timestamp ; and after applying the LSR to the overlaid image , display the overlaid image . <EOS>