1. A method of recovering a 3D scene structure from a plurality of image frames obtained from imaging means, the method comprising the steps of extracting a first set of 2D features from a first image frame, extracting a second set of 2D features from a second image frame, matching the second set with the first set, such that at least one pair of matched 2D features refers to a same 3D point in a 3D scene, generating a 3D ray by back-projection from each 2D feature, subjecting the generated 3D rays to an anchor-based minimization process, for determining camera motion parameters and 3D scene points coordinates, thereby recovering a structure of said 3D scene, and processing the determined camera motion parameters using 3D ray intersection by minimizing a function based on the Euclidian distance between the 3D rays; wherein the anchor-based minimization process comprises selecting a 3D point in the 3D scene as an anchor, being a centre of rotation, such that the camera motion parameters can be expressed relative to the anchor point.