A method, a system, and a program for high-fidelity three-dimensional modeling of a large-scale urban environment, performing the following steps:acquiring imagery of the urban environment, containing vertical aerial stereo-pairs, oblique aerial images; street-level imagery; and terrestrial laser scans,acquiring metadata pertaining to performance, spatial location and orientation of imaging sensors providing the imagery;identifying pixels representing ground control-points and tie-points in every instance of the imagery where the ground control-points and tie-points have been captured;co-registering the instances of the imagery using the ground control-points, the tie-points and the metadata, andreferencing the co-registered imagery to a common, standard coordinate system.The referenced co-registration obtained enables:extraction of ground coordinates for each pixel located in overlapping segments of the imagery, representing a 3D-point within the urban environment; andapplying data pre-processing and 3D modeling procedures;to create the high-fidelity 3D model of a large-scale urban environment.