This article presents a new algorithm for 3D reconstruction using a combination of two existing methods – Structure from Motion (SfM) and Oriented FAST and Rotated BRIEF (ORB). The authors propose an approach that merges the advantages of both methods to enhance the accuracy and efficiency of reconstructing the 3D structure of scenes from images. To improve reconstruction quality, filtering and outlier removal are applied, along with other optimizations. Comparative results between the new algorithm and existing methods demonstrate its superiority in accuracy and noise robustness. The proposed approach is highly scalable and can be successfully applied in various fields that require precise 3D reconstruction of image scenes.