We propose a method for 3D-structure extraction from the image data of a flying platform equipped with an IR-camera.
Due to the large distance of the camera to the target, trajectories with limited perspective variation and low resolution
cameras the task is challenging. Our method is based on the extraction and tracking of line segments together with
junction points of line segments. These tracks are afterwards used for 3D-reconstruction. In a second step knowledge
about typical properties of man made objects is incorporated in the reconstruction results to generate intrinsically