The task is estimating geo-location utilizing sensors and databases that reliably function in GPS degraded environments and are compatible with the computing and communication resources available onboard a mobile platform. Objective: Real-time geo-spatial localization of a mobile platform in GPS-denied environment using static maps obtained from GIS database and trajectory estimation of onboard video camera using visual odometry. Significance: Foundational framework for coalescing information rich domains of GIS and Computer Vision technologies towards automated and ubiquitous navigation. Approach: 3D localization of onboard camera-by computing visual features an d camera video inter-frame view geometry-is used to generate a geo-spatial trajectory. This trajectory is utilized as a shape based query in a static map.