1. A method of annotating an image of an object located in a predetermined world space of an image processing system adapted to estimate at least a location of the object in the world space, the image processing system including a monitor for displaying the image, the method comprising the steps of: defining an annotation of the object relative to at least the estimated location of the object, the annotation being defined in a world coordinate system of the world space; piece-wise mapping the annotation into an image space corresponding to the image of the object; and displaying the annotation on the monitor in conjunction with the image.