1. Method ( 700 ) for geo-referencing at least one sensor image, said method comprising the steps of: generating ( 701 ) said at least one sensor image of a first scene with at least one sensor; accessing ( 702 ) a 3D model of the environment comprising geo-coded 3D coordinate data and related to at least one second scene, said second scene encompassing said first scene; matching ( 703 ) the sensor image with the 3D model to find a section of the 3D model where there is a match between the first and the second scenes; geo-referencing ( 704 ) the sensor image based on the geo-coded 3D coordinate data of the found section of the 3D model; and determining ( 705 ) a measure related to an uncertainty in the matching between the sensor image and the 3D model, wherein: the 3D model of the environment comprises a textured mesh describing the environment, the textured mesh comprising nodes interconnected via edges and surfaces boarded by the edges; and each node and/or edge and/or surface is associated to geo-coded 3D coordinate data and texture data.