Images registration for low resulation highway images

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Hi

I have a collection of images of highways, they have fixed resolution 352*288 they taken by mounted cameras, these cameres rotated horizontally and diagonally, I want to aligne this higways into piles,

i have tried feature pased images registration using SIFT, SURF and ORB they are providing good results but when the image have rotation diagonally and when there is a small zooming the aligning will be damaged,

I have tried intensitiy based image registration using findTransformEcc and it is a little bit acceptable, but when i tried intesity based image registation using matlab the results are much better

example of images: