A method of positioning a user equipment located in an environment, the user equipment comprising a camera for acquiring digital images, the method comprising: defining a three-dimensional model of the environment through a cloud of points, each point being defined by a set of coordinates and a color information; generating a plurality of three-dimensional images, each three-dimensional image of said plurality being generated based on the three-dimensional model of the environment as seen by a respective virtual camera having a respective camera parameters configuration; having the user equipment acquiring a query image by capturing, by means of the camera, a portion of the environment; evaluating a similarity between the query image and each three-dimensional image of said plurality; identifying an initial three-dimensional image as a most similar three-dimensional image among said plurality of three-dimensional images estimating ( 303 - 318 ) an initial camera parameters configuration of the camera of the user equipment based on the camera parameters configuration associated to the initial three-dimensional image ; modifying ( 321 - 324 ) a camera parameters configuration of the virtual camera associated with the initial three-dimensional image, and generating an additional three-dimensional image based on the three-dimensional model of the environment, said additional three-dimensional image being obtained from the three-dimensional model of the environment as seen by a modified virtual camera having the modified camera parameters configuration so as to increase the similarity between the additional three-dimensional image and the query image up to a predetermined value. defining a three-dimensional model of the environment through a cloud of points, each point being defined by a set of coordinates and a color information; generating a plurality of three-dimensional images, each three-dimensional image of said plurality being generated based on the three-dimensional model of the environment as seen by a respective virtual camera having a respective camera parameters configuration; having the user equipment acquiring a query image by capturing, by means of the camera, a portion of the environment; evaluating a similarity between the query image and each three-dimensional image of said plurality; identifying an initial three-dimensional image as a most similar three-dimensional image among said plurality of three-dimensional images estimating ( 303 - 318 ) an initial camera parameters configuration of the camera of the user equipment based on the camera parameters configuration associated to the initial three-dimensional image ; modifying ( 321 - 324 ) a camera parameters configuration of the virtual camera associated with the initial three-dimensional image, and generating an additional three-dimensional image based on the three-dimensional model of the environment, said additional three-dimensional image being obtained from the three-dimensional model of the environment as seen by a modified virtual camera having the modified camera parameters configuration so as to increase the similarity between the additional three-dimensional image and the query image up to a predetermined value. <EOS>