1. Method for determining a relation between a first scene and a second scene, said method comprising the steps of generating at least one sensor image of a first scene with at least one sensor; accessing information related to at least one second scene by a processing and control module, said second scene encompassing said first scene; and matching, by the processing and control module, the sensor image with the second scene to map the sensor image onto the second scene, wherein: the step of accessing information related to the at least one second scene comprises: accessing a textured 3D map comprising geocoded 3D coordinate data by the processing and control module, wherein the textured 3D map comprises a 3D model having texture information associated to one or more surfaces of the 3D model; and extracting, from the textured 3D map and by the processing and control module, the texture information comprising the corresponding geocoded 3D coordinate data related to the at least one second scene, said extracting generating 2D extracted texture information; and the step of matching the sensor image with the second scene to map the sensor image onto the second scene comprises: matching, by the processing and control module, the 2D extracted texture information corresponding to at least one of the one or more surfaces of the 3D model and comprising the corresponding geocoded 3D coordinate data with 2D image texture information of the sensor image, the 2D image texture information of the sensor image corresponding to one or more surfaces within the sensor image, and associating, by the processing and control module, the extracted corresponding geocoded 3D coordinate data to a plurality of positions in the sensor image based on the matching of the 2D extracted texture information with the 2D image texture information of the sensor image.