From a first image using a model, a first uncertainty map is generated. An uncertainty level of a location in the first uncertainty map corresponds to a detection of a known structure in a portion of the first image. A first weighted image corresponding to the first uncertainty map is generated, the generating including assigning a first weight to a pixel of the first image, the first weight corresponding to the uncertainty level of a location in the first uncertainty map corresponding to the pixel. From a second image using a model, a second uncertainty map is generated. A second weighted image corresponding to the second uncertainty map is generated. The first image and the second image are combined to form a composite image, each image participating in the composite image according to the corresponding weighted image.
