This paper addresses the problem of the joint determination of camera motion parameters and scene depth information. A video sequence obtained by a one hand moving camera is the input. It is well known that the movement of a pixel between two consecutive images depends on the motion parameters and also on the depth of the projected point. Based on a camera motion estimation which uses the registration group and an energy minimization based on the Belief Propagation algorithm, we propose an iterative method combining camera motion and depth estimation.