1. A method for generating a reconstruction of a scene from two two-dimensional images of at least one object in a three-dimensional scene as recorded from a plurality of diverse locations, each location defining an image plane for one of said images, including: A. identifying, for each image plane, coordinates defining an epipole location, the epipole location for each said image plane comprising a point of intersection between of a line interconnecting the locations and the respective image plane; B. using the epipoles and coordinates in the respective image planes of selected reference points in the scene which define at least one reference plane to generate a homography that relates coordinates of projections of the selected respective points onto the image planes; C. using the homography generated by the homography generating means and coordinates of the projection of at least one additional point in the respective image planes to generate a depth value; and D using coordinates of projection of at least one point of the object onto the image planes and the depth value generated by the depth value generator for said at least one point for generating a reconstruction of said at least one point in the scene.