This paper describes a 3-dimensional vision system that utilizes two views of a scene and textural information in determining distances to objects in a scene. The application of the system lies with determining distances to obstacles in mobile robot guidance. The analysis of a scene is performed in two stages. First, orientations of planar textured surfaces in a scene are estimated using textural information in a single image frame. This step determines the relative positions of obstacles located on textured surfaces. In the second step, exact positions of the obstacles are determined using two views of a scene.