Point and sensor estimation from images

System comprising at least one sensor configured to take a set of images from different viewpoints of a scene; a processor configured to identifying a point source represented in the images of a set of images; computing for each image of the set of images the subspace of potential locations of the point source in the scene on the basis of the viewpoint or a viewpoint region of the image and on the basis of the subregion of the image representing the point source; and computing a point intersection region of the subspaces of potential locations of the point source of the images of the set of images.