1. An apparatus for creating a 3-dimensional field scene map, comprising: at least one camera for producing a pair of images of the field scene; and means for creating a disparity image from the pair of images; wherein the disparity image comprises a 3-dimensional image encoded with x, y, and z coordinates relative to the at least one camera; and the creating of the 3-dimensional map comprises determining at least one of a camera to ground distance and a camera tilt angle.