1. A computerized method for extracting a three-dimensional model from a sequence of images of an object, comprising the steps of: (a) registering each image in the sequence with a reference image to determine image features; (b) recovering structure and motion parameters from the image features using geometric constraints; (c) generating a predicted appearance for each image using the recovered structure and motion parameters; (d) registering each predicted appearance with the corresponding image; and repeating the recovering (b), generating (c) and registering (d) steps until a termination condition is reached.