Structure from Motion is a popular 3D measurement method. This technique uses images captured by a single camera with motion. Structure from Motion can calculate the 3D position of objects and the camera motion simultaneously. Because of its simplicity, Structure from Motion has been implemented in various ways. However, there is an essential problem that the scale of the objects cannot be calculated by Structure from Motion. In this paper, we propose a method which solves this problem using refraction. Refraction induced by introducing a different medium results in a change in the path of a light ray. This method is implemented using only a refractive plate and a single camera. The refractive plate is placed in front of the camera. We can obtain the refractive images using this system. The results of simulations show the effectiveness of the proposed method. It is also shown that the precision of reconstruction in the proposed method is improved when the thicker refractive plate is used.