In this thesis we have studied detection of 3D structures having a forward camera movement which has strong influence of translation along the optical axis of the camera. During the forward movement the camera might undergoes rotation and translation .We have used “Plane plus Parallax” algorithm to cancel out this unwanted rotation. The input to the algorithm is a sequence of frames aligned with respect to a certain planar surface. The algorithm gives three types of outputs. (i) Dense correspondence across all frames. (ii) Dense 3D structure relative to the planar surface. (ii) Focus of Expansion (FOE) in all frames with respect to reference frame. Camera calibration is not needed for this algorithm. We have applied this algorithm to real world images and synthetic images. In both cases the 3D structure information could be obtained clearly even for objects far from the reference plane. Our result shows the potential of the method in 3D reconstruction implementing ego-motion of a single camera. / dm_aiub@yahoo.com 008801681006314