Recently, in order to build barrier-free smart cities, Japanese government is actively promoting to construct open data regarding roads and buildings, including existence of bumps, road slope and corridor width. To contribute this activity, in this paper, we introduce a corridor width estimation method by using an RGB-D camera. In this method, we assume that the RGB-D camera is mounted on the electric wheelchairs for a mobile sensing platform. The corridor width estimation is mainly operated by three steps: planes extraction, side walls extraction and distance calculation. We evaluate the accuracy of this method at eight corridors in Waseda University.