1. A computerized method for placing an annotation on an image of a scene, comprising the steps of: (a) obtaining an original image of said scene with a camera; (b) obtaining an annotation for a feature of said scene represented in said image; (c) for each position of a plurality of positions in said image, determining a probability of having said feature at said position; and (d) forming the annotated image by including said annotation at an annotation position in said image where said probability is the highest further comprising (e) determining the position of said camera with a location sensor, (f) using computer vision means for determining a similarity between said feature and reference images or models of said feature; (g) computing a probability distribution function indicating the probability of having said feature at each of said positions in said image, based on information from said location sensor and on information from said computer vision means.