Olivieri, PPOlivieriGatti, MMGattiStraforini, MMStraforiniASI Sponsor2020-09-172020-09-171992-01-01https://hdl.handle.net/20.500.13025/75Acknowledgements We wish to thank Dr. M. Campani, Dr. E. De Micheli and Dr. A. Verri for helpful suggestions on the manuscript. Cristina Rosati typed the manuscript and Clive Prestt checked the English. This work was partially supported by grants from the EEC (ESPRIT II VOILA), E.B.R.A. Insight Project 3001, EEC BRAIN Project No. 88300446/JU1, Progetto Finalizzato Trasporti PROMETHEUS, Progetto Finalizzato Robotica, Agenzia Spaziale Italiana (ASI).The recovery of the 3D structure of indoor scenes from a single image is an important goal of machine vision Therefore, a simple and reliable solution to this problem will have a great influence on many tasks in robotics, such as the autonomous navigation of a mobile vehicle in indoor environments. This communication describes the recovery, in a reliable and robust way, of the 3D structure of a corridor and of obstacles from a sequence of images obtained by a T.V. camera moving through the corridor. The obtained 3D information can be used to extract the free space in the viewed scene in order to plan the trajectory of a mobile vehicle. This application is being worked on at the moment and the results will be illustrated in a future communication.enconference paperhttp://link.springer.com/chapter/10.1007/3-540-55426-2_7654dcce078580fe1368eeae18