Abstract: Most conventional multi-perspective mosaics were commonly used for 2D representation but ignored its potential in 3D reconstructions.An urban 3D reconstruction oriented stereo parallel mosaics (SPM) generation algorithm with a multi-perspective mosaic containing texture and depth information is proposed.Firstly, we detect and parameterize the planes in images from the depth information under the principle of preserving maximum side faces of building.Secondly, we choose the key images according to the positions and plane parameters.Thirdly, we stitch and merge the key images to a seamless SPM by using double optimal partitions and Poisson equations.The experiments show that SPM presents good performance of 3D reconstruction and 2D presentation for urban scenes.