In this paper

we present a new technique for solving geometric structure and motion problems based on L and scene point classification. First

in order to avoid that our reconstruction method is affected by outliers

the outliers are removed using the L approach. Second

the scene points are divided into two classes; the first class contains those scene points which are visible in two views; the second class contains those scene points which are visible in more than two views. The optimal triangulation method is used for the first class. The L norm minimization is used for the second class and the gap between the upper and lower bound of the bisection is kept as small as possible

so that the computation time is decreased. The experimental results show the advantages of our method.