1. A method for generating a 3-D point cloud representing a 3-D scene from a plurality of 2-D scene data sources, comprising: (a) receiving a plurality of 2-D scene data sources, each 2-D scene data source associated with a rotation parameter, a translation parameter, and each 2-D scene data source including a plurality of image points, each image point associated with an undetermined space point; (b) defining a motion constraint, the motion constraint defining a maximum value of a ratio (r/r′) and a minimum value of the ratio (r/r′), wherein the ratio (r/r′) represents a ratio between a first distance (r) to an image point and a second distance (r′) to the image point after a camera translation (T); (c) as a function of the motion constraint, for a first 2-D scene data source and a second 2-D scene data source determining a best rotation parameter, a best translation parameter and point correspondence information, the point correspondence information representing a correspondence between an image point associated with the first 2-D scene data source and an image point associated with the second 2-D scene data source; (d) determining a 3-D point cloud &lcub;X&rcub; as a function of the best rotation parameter, the best translation parameter and the point correspondence parameter.