Potential NASA Commercial Applications: Our system can be used in NASA's existing and future planetary rover missions. In particular, our algorithms can be used as an intelligent proxy to assist human operators in rover guidance. In addition, the algorithms will also provide help in the development of the next generation of Mastcam imagers. The new Mars rover that is expected to be sent to Mars in 2020 will also contain stereo Mastcam instrument that has Mastcam-Z, an advanced camera system with panoramic and stereoscopic imaging capability with the ability to zoom [http://www.nasa.gov/press/2014/july/nasa-announces-mars-2020-rover-payload-to-explore-the-red-planet-as-never-before/#.VLkyayvF_6s]. In addition, the two-step registration approach can be used in remote sensing applications for environmental monitoring and for damage assessment after a natural disaster where precise registration is critical.