Analysis of stereovision sequences

Stereovision is an image acquisition technique allowing for reconstruction of 3D structure of a scene. This imaging  technique is also used e.g.  for controlling  robots mobility.  From a given a stereovision sequence of a corridor scene (of known dimensions) shot by a stereovision rig moving along a straight line. Objective would be to work out the path of the rig in terms of the angle of its movement versus corridor walls, and e.g. sound an alarm if the rig is close to impact with the wall.