Abstract: An arrangement for generating reconstructon information to facilitate reconstruction of three-dimensional features of objects in a scene based on two-dimensional images of the scene taken from a plurality of locations. The arrangement includes a plurality of elements including an epipole generating means, a homography generating means and a depth value generating means. The epipole generating means identifies the location of epipoles, that is, the coordinates in each image plane, in which the images were recorded, of the point of intersection of the line interconnecting the centers of projection of the image recorders that record the images. The homography generating means uses the epipoles and the coordinates in the respective images of selected reference points to generate a homography that relates the coordinates of all points in the images.