A method for creating a 3D image is described. The method includes receiving a first 2D image and a second 2D image, identifying a plurality of first feature points in the first 2D image and a corresponding plurality of second feature points in the second 2D image, estimating a plurality of distances based on corresponding ones of the plurality of first feature points and based on corresponding ones of the plurality of second feature points, determining a mean and a standard deviation of inverses of the plurality of distances that were estimated, generating a baseline initialization coordinates based on the mean and the standard deviation of inverses of the plurality of distances, generating the 3D image based on the baseline initialization coordinates, and providing the 3D image for display. Related systems, devices and computer program products are also described.