Abstract: Firstly,the Pl點ker coordinate is used to express the 3D line.Secondly,the geometric reprojection error is used as the objective function of line feature triangulation method,assuring the maximum likelihood estimation.At last,linear algorithm and non-linear algorithm are used to achieve 3D structure reconstruction.During the reprojection process,in light of the scale factor of each line,the reconstruction accuracy is improved.Experiment results of synthetic dates and real images demonstrate that the approach is accurate and effective.