1. A method for estimating a location of an object comprising: obtaining a plurality of images of a region encompassing said object, said plurality of images providing a three dimensional (3-D) view frame of said region; collecting a plurality of said view frames along a direction of travel of said object; generating a three dimensional (3-D) map along said direction of travel of said object, said map based on said plurality of view frames and further based on an estimate of motion of said object at times associated with said plurality of view frames; extracting a first set of features from said 3-D map; searching a geo-referenced feature database for a second set of features that match said first set of features; retrieving a geo-location from said feature database, wherein said geo-location is associated with said second set of features; and estimating said location of said object based on said retrieved geo-location.