This paper is concerned with robust, accurate and computationally tractable methods for the automatic recovery of 3D ellipse data from edge based stereo. The processing paradigm relies heavily on the 2D image as a rich and robust source of scene feature hypotheses (in this case ellipses). Rather than attempt to recover 3D scene descriptions by grouping unstructured estimates of disparity and/or depth, a processes of automatic 2D feature hypothesis is used in conjunction with an appropriate disparity grouping constraint (in the case of ellipse hypotheses we use an affine disparity plane constraint) to recover more accurate 3D scene descriptors.