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The reconstruction and interpretation of 3D scene from 2D image have been studied. In this paper, we propose a method for the identification of the scene including the buildings by estimating the self-location of a camera. The scene is identified by matching the input image with the projected map corresponding to the estimated pose/position of a camera. The camera motion is dynamically estimated by using the image sequence. In this method, the corners of the building in the image are tracked by projecting the corners with the estimated camera pose/position in the previous frame. The validity of the proposed method is confirmed by evaluation of the estimated camera trajectory and the comparison of the input images with the image generated by estimated camera parameters.