Analysing the polarization state of reflected beams in a vision system provides essential informations concerning the observed surface orientations. In this paper, we present an original 3-D surface reconstruction method based on this principle. The polarimetric characterization of reflected beams in two stereoscopic images enables the determination, for every surface element of the analysed scene, of a normal vector to this surface element. In this aim, a specific stereoscopic image acquisition device including optical processors has been defined. The normal vectors to a surface elements are then involved in a specific integration process which yields the complete 3-D surface reconstruction. Results of this global treatment for real scenes are shown and discussed.