We present a scheme for incorporating scene constraints into the auto-calibration process for the structure and motion recovery problem. The steps covered by the scheme include projective factorization of the joint image measurement matrix, recovery of the absolute dual quadric, the upgrade from projective structure to its Euclidean counterpart, and incorporation of constraints from orthogonal scene planes into bundle adjustment. The focus of the paper is on the implementation details of all these steps and discussion of the various issues that arose. We have tested the scheme on both synthetic and real image data and found that it is more advantageous to incorporate into camera auto-calibration and bundle adjustment as many scene constraints as are available rather than performing auto-calibration and bundle adjustment alone. (c) 2005 Elsevier B.V. All rights reserved.