Abstract: A method of generating output image data representing a view from a specified spatial position in a real physical environment. The method comprises receiving data identifying the spatial position in the physical environment, receiving image data, the image data having been acquired using a first sensing modality and receiving positional data indicating positions of a plurality of objects in the real physical environment, the positional data having been acquired using a second sensing modality. At least part of the received image data is processed based upon the positional data and the data representing the specified spatial position to generate the output image data.