A simple and straightforward algorithm for sìng1e camera 3-D vision has been introduced. The approach uses both the information of the single image and the information provided by a few 1aser p1anes. The ana1ysis of the image information creates the correspondence between the feature points of a solid in space and their image points. The structured light provides a spatia1 coordinate system to measure these feature points in the working space. The a1gorithm has been used in GKD-1 robot vision system working with a RM-501 robot.