This work is part of project “Mobbio” developed at Visual Engineering within the R&D labs. As will be seen throughout the document, the results obtained with the 3D reconstruction technologies that have developed, not only will allow to build robust face detection technologies, but also will allow Visual Engineering to use this technology in other previously mentioned fields such as in media industry (e.g. video-games or movie effects), or for augmented reality purposes (e.g. maps and guides, showing additional information on industrial applications, etc.). Indeed, in posterior stages, the 3D reconstruction technology that has already been developed along with face modeling is expected to be immediately used for avatar creation or accurate face detection that will be ready to be used on video-games or for security purposes (i.e. access control, video-surveillance, etc.). Because 3D reconstruction can be used on any general purpose scene, in later stages it is then expected to use this technology for effects on the media industry, collecting 3D data for industrial purposes, or for sculpture or archeological sites’s scanning. Also, some medical images might be eligible for 3D reconstruction, such as radiographies or images captured by confocal microscopies. Although, in this latter case, medical images might need additional research as they are prone to contain transparencies, which makes them harder candidates to obtain reliable image point correspondences. The purpose of this document is to develop a 3D reconstruction algorithm for fixed scenes containing opaque objects with Lambertian surfaces (i.e. without transparencies like glass, and without glares due to highly reflecting surfaces like mirrors or metallic surfaces).