The book explains how 3-D models can be obtained from images acquired with a hand-held camera and describes the different components required to build an automatic system for this purpose. The approach is based on advanced automatic techniques that avoid camera calibration and a-priori scene knowledge. Examples are presented from architecture, archaeology, and planetary exploration. Basic knowledge of 3-D computer graphics and geometry and some knowledge of 3-D modeling from images are desirable. Topics: *automatic feature matching *interest-point extraction and matching *projective reconstruction, self-calibration *dense matching *3-D modeling