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Global Navigation Satellite Systems (GNSS) are widely spread (with Global Positioning System – GPS) in intelligent transport systems and offer a low cost, continuous and global solution for positioning. Unfortunately, urban users are often the most demanding of accurate localization but receive a degraded service because of signal propagation conditions. Several mitigation solutions can be developed. We propose, within CAPLOC project (2010–2013) to deal with inaccuracy by associating image processing techniques and signal propagation knowledge. In this paper, we focus on the contribution of image processing in more accurate position estimation. Thus, we use a laboratory vehicle, which is equipped with a fisheye camera and two GNSS receivers. The camera is located on the roof and oriented upwards to capture images of the sky. The GNSS receivers are used to obtain raw data, the position of the …