Abstract. The estimation of parametric global motion has had a significant attention during the last two decades, but despite the great efforts invested, there are still open issues. One of the most important ones is related to the ability to simultaneously cope with viewpoint and illumination changes while keeping the method accurate. In this paper, a Generalized least squared-based motion estimator model able to cope with large geometric transformations and illumination changes is presented. Experiments are made on a series of images showing that the presented technique provides accurate estimates of the motion and illumination parameters.