Abstract: In order to achieve 3D,either Euclidean or projective reconstruction with high precision,one has to consider lens distortion.Based on a pinhole camera,this paper addresses an error model of hand-held camera photogrammetry system,and then the special case of image matching error and the influence of camera distortion on3D reconstruction are discussed in detail.Finally,a reliable error model is provided to make the photogrammetry system achieve high accuracy of 3D reconstruction.