1. A method for tracking the location and view angle of a calibrated camera in real-time (ego-motion) comprising the steps of: Creating an a priori model of the world in which the camera exists; Taking each raw, unprocessed video frame from the camera; For each video frame, hypothesizing a small set of possible locations and view angles at which such frame is taken; For each video frame, rendering images using a graphics processor and vertex data from the a priori model, one image for each hypothesized location and view angle. For each video frame, picking the best location and view angle by finding the best matching image to the video frame.