An image processing system comprises a first video camera arranged to have a first width of field of view, and operable to capture a first image, a second video camera arranged to have a second width of field of view narrower than that of the first video camera, and operable to capture a second image substantially at the same time that the first camera captures the first image, and an image processing unit operable to access scene geometry for a known scene, with the first video camera and the second video camera being arranged in a pre-set positional relation to each other; the image processing unit is arranged in operation to map scene geometry onto the first image captured by the first video camera, and the image processing unit is arranged in operation to map onto the second image captured by the second video camera at least part of the scene geometry mapped onto the first image, in dependence upon the pre-set positional relation of the first and second video cameras and their respective widths of field of view.