The invention relates to a new method of reconstruction of tridimensional scenes. While conventional methods are often limited to the 3D reconstruction of the bounding volume of the concerned objects, the proposed method of recovery of a 3D geometric model from 2D views taken by one single camera, giving an information even about the parts which are hidden in each view, is implemented according to a first depth labeling step, implemented in a sub-system (11) and including initialization and projection sub-steps followed by a refinement process, and to a second reconstruction step, implemented in a sub-system (12). By means of a close cooperation of the 3D depth maps thus obtained for two views of a scene, a 3D model is identified and extracted.