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In this paper, we present a fast 3D motion parameter estimation approach integrating the depth information acquired by a stereo camera head mounted on a mobile robot. Afterwards, the resulting 3D motion parameters are used to generate and accurately position motion vectors of the generated depth sequence in the 3D space using the geometrical information of the stereo camera head. The proposed approach has successfully detected and estimated predefined motion patterns such as motion in the Z direction and motion vectors pointing to the robot which is very important to overcome typical problems in autonomous mobile robotic vision such as collision detection and inhibition of the ego-motion defects of a moving camera head. The output of the algorithm is part of a multi-object segmentation approach implemented in an active vision system.