A method for improving position information associated with a collection of images, wherein the images in the collection have been obtained using a camera that was positioned at different positions (7-9) along a trajectory of a vehicle , each of the obtained images being associated with a respective first position and respective first orientation, representing a position and orientation of the camera with which the image was taken, the method comprising: determining (S1) an overlapping region (C) in which at least three images obtained at different positions (7-9) of the vehicle among the collection of images at least partially overlap, the overlapping region comprising graphical information about objects that are visible in said at least three images; constructing (S2) a 3D model of the objects that are visible in the overlapping region using triangulation; providing (S3) an aerial image in which the objects visible in the overlapping region are at least partially visible, the aerial image being associated with a second position and second orientation representing a position and orientation of a camera with which the image was taken; determining (S4) a positional offset of the 3D model relative to the aerial image; and updating (S5) the respective first positions of the images in the collection using the determined positional offset; wherein the overlapping region (C) comprises: a first overlap (A, B) between a first image and a second image that correspond to adjacent positions of the vehicle along the trajectory; a second overlap (A, B) between the second image and a third image that correspond to adjacent positions of the vehicle along the trajectory, the first and third images being different images; wherein the first overlap (A, B) partially overlaps the second overlap (A, B). determining (S1) an overlapping region (C) in which at least three images obtained at different positions (7-9) of the vehicle among the collection of images at least partially overlap, the overlapping region comprising graphical information about objects that are visible in said at least three images; constructing (S2) a 3D model of the objects that are visible in the overlapping region using triangulation; providing (S3) an aerial image in which the objects visible in the overlapping region are at least partially visible, the aerial image being associated with a second position and second orientation representing a position and orientation of a camera with which the image was taken; determining (S4) a positional offset of the 3D model relative to the aerial image; and updating (S5) the respective first positions of the images in the collection using the determined positional offset; wherein the overlapping region (C) comprises: a first overlap (A, B) between a first image and a second image that correspond to adjacent positions of the vehicle along the trajectory; a second overlap (A, B) between the second image and a third image that correspond to adjacent positions of the vehicle along the trajectory, the first and third images being different images; wherein the first overlap (A, B) partially overlaps the second overlap (A, B). a first overlap (A, B) between a first image and a second image that correspond to adjacent positions of the vehicle along the trajectory; a second overlap (A, B) between the second image and a third image that correspond to adjacent positions of the vehicle along the trajectory, the first and third images being different images; wherein the first overlap (A, B) partially overlaps the second overlap (A, B). <EOS>