Performing 3D object or scene reconstruction using a set of planar images is still one of the key challenges of computer vision. A network of cameras, whose usage and ubiquitousness have been increasing in the last decade, can provide such planar images from different views of the scene. Recently, IS has been becoming much cheaper and more available such that nowadays even many smart phones can be found equipped in both IS and camera sensors. 3D earth cardinal orientation is one of the outputs of an IS. We take the advantage of having a camera already coupled with an IS and investigate the problem of multi-sensor data registration. There is a variety of applications from different areas which can benefits from 3D reconstruction. These areas include surveillance, human motion and behaviour modelling, virtual-reality, games, teleconferencing, human-robot interaction, medical industries and object recognition.