In this article we show how relative 3D reconstruction from point correspondences of multiple uncalibrated images can be achieved through reference points. The original contributions with respect to related works in the field are mainly a direct global method for relative 3D reconstruction and a geometric method to select a correct set of reference points among all im age points. Experimental results from both simulated and real image sequences are presented, and robustness of the method and reconstruction precision of the results are discussed.
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