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, and 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.