An apparatus for automated, partly automated or assisted maneuvering of a motor vehicle from a start point to a 3D target position including a mono camera and an evaluation and control unit, wherein the evaluation and control unit has at least one structure-from-motion algorithm, wherein the evaluation and control unit calculates a maneuvering trajectory composed of three partial trajectories, wherein a first partial trajectory leads from the start point to a first intermediate point, a second partial trajectory leads from the first to a second intermediate point, and the third partial trajectory leads from the second intermediate point to the target point, wherein at least the first or at least the second partial trajectory is embodied so the mono camera captures the target position from at least two different viewing directions, wherein the viewing directions are selected so the 3D determination of the structure-from-motion is optimized.