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This paper describes an approach whereby comparametric analysis is used in jointly registering image pairs in their domain and range, i.e., in their spatial coordinates and pixel values, respectively. This is accomplished by approximating a camera's nonlinear comparametric function with a constrained piecewise linear one. The optimal fitting of this approximation to comparagram data is then used in a re-parameterized version of the camera's comparametric function to estimate the exposure difference between images. Doing this allows the inherently nonlinear problem of joint domain and range registration to be performed using a computationally attractive least squares formalism. The paper first presents the range registration process and then describes the strategy for performing the joint registration. The models used allow for the pair-wise registration of images taken from a camera that can automatically adjust its exposure as well as tilt, pan, rotate and zoom about its optical center. Results concerning the joint registration as well as range-only registration are provided to demonstrate the method's effectiveness.