a method of image reconstruction comprising : obtaining a helmholtz reciprocal pair of images of an object , the images comprising a first image and a corresponding reciprocal image ; determining an imaging geometry associated with the obtaining ; selecting a plurality of points in the first image and identifying corresponding candidate points in the corresponding reciprocal image ; matching a selected point of the plurality of points and a candidate point of the corresponding candidate points . a method of image registration with an object comprising : obtaining a helmholtz reciprocal pair of images of an object , the helmholtz reciprocal pair of images comprising a first image and a corresponding reciprocal image ; estimating a pose for the object ; predicting an estimated image corresponding to the pose and one image of the reciprocal pair of images ; comparing the estimated image with a corresponding actual image from the pair of images ; and refining the estimating a pose based on the comparing .