摘要： Railway line surveillance is important for providing safe and smooth travel of trains under effects of environmental or human-generated damages to the railway. This work presents a Structure from Motion pipeline specifically designed with the aim of supporting the monitoring operations of the railway infrastructure using a monocular camera mounted on the train’s tractor. Within this work we developed a dynamical reconstruction instrument based on the mathematics of the projective geometry for handling the problem of localization, by triangulation techniques of points, lines, whole objects and of other known elements. Exploiting the a-priori knowledge of the scene structure (known track gauge) and the camera intrinsic parameters it is possible to reconstruct in metric dimension the trajectory of the train and the position of the detected object. The approach proposed here combines Computer Vision techniques to detect the significant elements and to classify a set of features with Bayesian filtering. Algorithms for this specific purpose have been developed in order to identify the rail track geometry, and a line-based approach has been adopted to assess the camera poses. Starting from these first estimates, a manifold Unscented Kalman Filter operates on the set of robustly matched features, fusing heterogeneous cues about the camera orientation and using RANSAC to find the best solution. Consequently, the detected objects can be triangulated and localized. An analysis using real captures is reported to prove the quality of the results obtained.