Preprocessing that enables accurate matching of two images taken by sensors located at different points in space is presented. Separation between the sensors results in perspective changes that appear as geometric distortion. Two methods for removing the distortion are described. One method applies to sensors that measure range. The second method applies to sensors that do not measure range. Descriptions of the applicable sensor data formats, rationale for the preprocessing approaches, and transformations used to implement the approaches are included. Examples comparing images before and after preprocessing are shown.