A method for spatial localizing comprising: acquiring from a sensor supported on a vehicle an image of a portion of a physical surface configuration from a position spaced away from the physical surface configuration; identifying features (202, 204) in the acquired image; associating identified features (202, 204) in the acquired image with identified features in a three-dimensional reference representation of the portion of the physical surface configuration, the three-dimensional reference representation being defined in a three-dimensional space of volume elements, voxels; selecting a plurality of pairs of features in the acquired image having corresponding identified pairs of features in the reference representation; for each selected feature pair in the acquired image, determining an angle of view (Θ) between the pair of features from the sensor, generating a three-dimensional geoarc associating the determined angle of view and the selected feature pair in the reference representation, and identifying voxels that are included in the generated geoarc; summing for each identified voxel the number of generated geoarcs in which the voxel is included; and determining which identified voxel or voxels are included in the highest number of geoarcs, wherein determining for each voxel if the voxel is included in the generated geoarc includes (i) dividing the three-dimensional space into a plurality of separate portions (804A-8041, 904A-904I), such that the separate portions fill the three-dimensional space without overlaps or gaps, and (ii) identifying, concurrently for each of a plurality of the plurality of separate portions, whether the voxels in the respective separate portion are included in segments of the generated geoarcs corresponding to the respective separate portion, (iii) using multi-core processor such that each of a plurality of processor cores performs processes for a respective assigned separate portion. acquiring from a sensor supported on a vehicle an image of a portion of a physical surface configuration from a position spaced away from the physical surface configuration; identifying features (202, 204) in the acquired image; associating identified features (202, 204) in the acquired image with identified features in a three-dimensional reference representation of the portion of the physical surface configuration, the three-dimensional reference representation being defined in a three-dimensional space of volume elements, voxels; selecting a plurality of pairs of features in the acquired image having corresponding identified pairs of features in the reference representation; for each selected feature pair in the acquired image, determining an angle of view (Θ) between the pair of features from the sensor, generating a three-dimensional geoarc associating the determined angle of view and the selected feature pair in the reference representation, and identifying voxels that are included in the generated geoarc; determining an angle of view (Θ) between the pair of features from the sensor, generating a three-dimensional geoarc associating the determined angle of view and the selected feature pair in the reference representation, and identifying voxels that are included in the generated geoarc; summing for each identified voxel the number of generated geoarcs in which the voxel is included; and determining which identified voxel or voxels are included in the highest number of geoarcs, wherein determining for each voxel if the voxel is included in the generated geoarc includes (i) dividing the three-dimensional space into a plurality of separate portions (804A-8041, 904A-904I), such that the separate portions fill the three-dimensional space without overlaps or gaps, and (ii) identifying, concurrently for each of a plurality of the plurality of separate portions, whether the voxels in the respective separate portion are included in segments of the generated geoarcs corresponding to the respective separate portion, (iii) using multi-core processor such that each of a plurality of processor cores performs processes for a respective assigned separate portion. (i) dividing the three-dimensional space into a plurality of separate portions (804A-8041, 904A-904I), such that the separate portions fill the three-dimensional space without overlaps or gaps, and (ii) identifying, concurrently for each of a plurality of the plurality of separate portions, whether the voxels in the respective separate portion are included in segments of the generated geoarcs corresponding to the respective separate portion, (iii) using multi-core processor such that each of a plurality of processor cores performs processes for a respective assigned separate portion.