1. A method for fusing a secondary image with a main image, the method comprising: retrieving a 3D structure of objects contained in the secondary image by using information available for the secondary image; generating a parallax-corrected version of the secondary image using the 3D structure by determining a camera pose for which a projection of the 3D structure of the objects contained in the secondary image resembles the perspective in the main image and synthesizing the parallax-corrected version of the secondary image based on the determined camera pose; and fusing the parallax-corrected version of the secondary image with the main image.