Abstract: The invention pertains generally to image processing. More specifically, the invention relates to the processing of sensor imagery using generated imagery. Embodiments of the invention include receiving sensor data, vehicle data, GPS data and accessing a database to obtain a pre-stored image of a target area. The pre-stored image of the target area may then be pre-processed by transforming the image into a warped coordinate system and adding visual effects to create projection image of the target area. The projection image may then be compared to a current image of the target area to determine a three-dimensional location of a target located in the target area. Additional embodiments of the invention include the use of a feedback loop for refinement and correction of results and/or the use of parallel processors to speed processing.