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, and referencing 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; and applying data pre-processing and 3D modeling procedures; to create the high-fidelity 3D model of a large-scale urban environment.