This paper deals with the 3D structure estimation and exploration of a scene using active vision. We have used the structure from controlled motion approach to obtain a precise and robust estimation of the 3D structure of geo-metrical primitives. Since it involves to gaze successively on the considered primitives, we have developed perceptual strategies able to perform a succession of robust estima-tions without any assumption on the number and on the localization of the different objects. An exploration process centered on current visual features and on the structure of the previously studied primitives is presented. This leads to a gaze planning strategy that mainly uses a representation of known and unknown areas as a basis for selecting view-points. The proposed strategy ensures the completeness of the reconstruction.