In many applications, e.g. in cars or unmanned robots, a camera is used to detect depth and map the environment. This becomes possible if the camera movement is considered. This movement has normally strong influence of translation. When the translation is only along the optical axis of the camera, focal of expansion point becomes an important issue. This point is at same position in the two images captured before and after the translation. The goal of the thesis is to study movement of a camera which has strong influence of translation along the optical axis of the camera. Also to find key issues of a methodology to eliminate the effect of other than translation along the optical axis, this can be rotation and other translations.