Since the determination of the homologue points between two stereo images is the most serious problem in stereo vision, many different systems have been studied to solve it, using some of them auxiliar equipment such as laser beams. This problem can be drastically reduced when those images are previously preprocessed and most of the redundant information contained on them is eliminated. For a great number of scenes the contour of the image contains information enough to be analyzed. For many applications this information can be further reduced keeping only the straight line edges of their contours, maintaining yet information enough to be interpreted. Having these features of the images the search for the correspondence of some of the points of the edges is greatly reduced and thus it is possible to develop a system that can extract a 3D map of the environment in real time. In this paper a system able to generate a 3D map of the main parts of many scenes, the edges, is presented.