The government stole my motorcycle, how do I get it back?

I stopped riding my motorcycle for the winter and had it parked in the parking lot of my apartment complex. The owner approached me and said that it couldn't take up a spot all winter, but that he owned the empty lot across the street, and that I had his permission to park it there for as long as I needed. I agreed and parked it in a place that I could see from my apartment window. About three days later, I woke up one morning and my motorcycle was gone. I reported it stolen, like I thought it was, but then received a ticket in the mail for an abandoned vehicle, and a towing bill from the place that impounded it. I called the towing place and told them that it was a mistake, and that I didn't have the $695 they wanted in order to return my bike. I filed the ticket as "not committed" and set up a court date. Unfortunately, the towing company auctioned my motorcycle off before I even got a chance to go to court. When I finally went to court, I explained that the motorcycle was impounded by mistake, and that it had been auctioned off. The judge ruled "infraction not committed" and dismissed the ticket. Now, however, a few months later, I received a notice in the mail from a collections agency stating that I still owe the towing company a sum of over $1000. I do not believe that I should have to pay to towing company for stealing my motorcycle, and then selling it at an auction. I have no idea what to do at this point, and this collections notice is reflecting very poorly on my credit. What should I do?