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Image registration is the basic step for mosaicing. Image mosaicing is used in many applications like map updating, locating a target, and navigation. Registering the overlap part of the same scene using the same sensor is traditionally used for creating the mosaic. But registering the overlap part of the same scene using different sensors and different times is a challenging problem. Strictly conventional registration methods like SIFT (Scale Invariant Feature Transform) may fail to register correctly if the images are from different sensors or significantly different camera parameters of the same sensor (e.g. focal lengths). In our approach, we overcome this limitation by using the knowledge of intrinsic camera parameters together with new registration methods to help register the features between the two overlapping images. Our approach is useful especially in registering the images taken by different sensors at different times.