This study aims to present a new reconstruction method which enables reconstruction of 3D configuration of an object using single camera images. A secondary planar target which is a white circle with two internal black spots, one is located at the center, is used. The proposed reconstruction method is monocular and non-iterative. The elliptical contour and spot center locations of the target in an image is used to determine the 6-DOF configuration parameters of an object, on which the secondary target is rigidly attached. These six parameters represent the three basic translations and three basic rotations of the object with respect to camera coordinate system. The reconstruction algorithm is implemented and tested using an experimental setup composed of a digital imaging system and 6-DOF positioning unit. 512x512 pixels grayscale images are used to determine position and orientation of the secondary target with respect to the camera, which are controlled through the positioning unit. Theoretical accuracy limits of the reconstruction algorithm are evaluated and presented.