Method for generating an orthorectified tile (210, 604, 606, 608, 610, 700, 1409) comprising: retrieving a sequence of source images obtained by a terrestrial based camera (202, 1006, 1008, 1010, 1106, 1206) mounted on a moving vehicle (1000, 1100, 1200) driving across the earth surface; retrieving position data associated with the source images, wherein the position data includes constant position parameters defining a relationship with a reference position within the vehicle and variable parameters in a geographic coordinate reference system corresponding to the coordinate location of the vehicle's reference position in said coordinate reference system; retrieving orientation data associated with the source images, wherein the orientation data includes constant orientation parameters having a relationship with the orientation of the camera (202, 1006, 1008, 1010, 1106, 1206) with respect to a reference orientation of the vehicle (1000, 1100, 1200) and variable orientation parameters in said geographic coordinate reference system corresponding to the orientation of the reference orientation of the vehicle in said coordinate reference system; and converting a source image by means of corresponding position data and orientation data to obtain the orthorectified tile and corresponding metadata defining the conversion of pixel coordinates in the orthorectified image to a position in the geographic coordinate reference system; characterized in that the method further comprises: estimating a plane corresponding to the earth surface in dependence of the position and orientation data associated with the source images, wherein said estimated plane is used in converting the source image to obtain the orthorectified tile. retrieving a sequence of source images obtained by a terrestrial based camera (202, 1006, 1008, 1010, 1106, 1206) mounted on a moving vehicle (1000, 1100, 1200) driving across the earth surface; retrieving position data associated with the source images, wherein the position data includes constant position parameters defining a relationship with a reference position within the vehicle and variable parameters in a geographic coordinate reference system corresponding to the coordinate location of the vehicle's reference position in said coordinate reference system; retrieving orientation data associated with the source images, wherein the orientation data includes constant orientation parameters having a relationship with the orientation of the camera (202, 1006, 1008, 1010, 1106, 1206) with respect to a reference orientation of the vehicle (1000, 1100, 1200) and variable orientation parameters in said geographic coordinate reference system corresponding to the orientation of the reference orientation of the vehicle in said coordinate reference system; and converting a source image by means of corresponding position data and orientation data to obtain the orthorectified tile and corresponding metadata defining the conversion of pixel coordinates in the orthorectified image to a position in the geographic coordinate reference system; characterized in that the method further comprises: estimating a plane corresponding to the earth surface in dependence of the position and orientation data associated with the source images, wherein said estimated plane is used in converting the source image to obtain the orthorectified tile. estimating a plane corresponding to the earth surface in dependence of the position and orientation data associated with the source images, wherein said estimated plane is used in converting the source image to obtain the orthorectified tile.