A method and an apparatus for improving a main image by fusing the richer information contained in a secondary image are described. A 3D structure of objects contained in the secondary image is retrieved and a parallax-corrected version of the secondary image is generated using the 3D structure. For this purpose a camera pose for which a projection of the 3D structure of the objects contained in the secondary image best resembles the perspective in the main image is determined and the parallax-corrected version of the secondary image is synthesized based on the determined camera pose. The parallax-corrected version of the secondary image is then fused with the main image.