Abstract: A method of geodetically locating pixels of a captured image of a planetary body comprises the steps of: detecting an object on the planetary body using an imaging sensor viewing the planetary body; matching the object to a predetermined landmark on the planetary body; and updating, at a time tk, a state vector representing kinematics of the imaging sensor, and tk representing a present update time. Updating the state vector at the present time occurs if, and only if, the matching step is successful. In addition, the method includes computing a line-of-sight (LOS) vector from the imaging sensor to the planetary body, based on observations of the planetary body and the kinematics of the state vector; and geodetically locating the pixels of the captured image, based on the LOS vector. The LOS vector is based only on (a) the predetermined landmark and (b) a position command from a ground processing segment to the imaging sensor.