A method for determining positions of moving targets in unbiased three-dimensional (3D) measurement spaces using data collected against the moving targets by an electro-optical or infrared (EO/IR) sensor, the method comprising receiving data collected from electrical signals reflected from the moving targets in a first focal plane of the EO/IR sensor at a first time point, receiving data collected from electrical signals reflected from the moving targets in a second focal plane of the EO/IR sensor at a second time point, generating two-dimensional (2D) measurement data for the moving targets in the first and second focal planes, calculating 3D target velocities for the moving targets using the 2D measurement data, and estimating local 3D positions within a first unbiased 3D measurement space for the moving targets at the first and second time points based on the 3D target velocity.