The primary goal of this thesis is to develop generic motion and structure algorithms for images taken from constructed scenes by various types of central imaging systems including perspective, fish-eye and catadioptric systems. As-suming that the mapping between the image pixels and their 3D rays in space is known, instead of image planes, we work on image spheres (projection of the images on a unit sphere) which enable us to present points over the entire viewsphere suitable for presenting omnidirectional images. In the first part of this thesis, we develop a generic and simple line matching approach for images taken from constructed scenes under a short baseline motion as well as a fast and original geometric constraint for matching lines in planar constructed scenes insensible to the motion of the camera for all types of centralimages including omnidirectional images.Next, we introduce a unique and efficient way of computing overlap between two segments on perspective images which considerably decreases the over all computational time of a segment-based motion estimation and reconstruction algorithm. Finally in last part of this thesis, we develop a simple motion estima-tion and surface reconstruction algorithm for piecewise planar scenes applicable to all kinds of central images which uses only two images and is based on mini-mum line correspondences.To demonstrate the performance of these algorithms we experiment withvarious real images taken by a simple perspective camera, a fish-eye lens, and two different kinds of paracatadioptric sensors, the first one is a folded catadioptric camera and the second one is a classic paracatadioptric system composed of a parabolic mirror in front of a telecentric lens.
