We present a method for fully automatic 3D reconstruction of coronary artery centerlines using three X-ray angiogram projections from a single rotating monoplane acquisition. The reconstruction method consists of three steps: (1) filtering and segmenting the images using a multiscale analysis, (2) matching points in two of the segmented images using the information from the third image, and (3) reconstructing in 3D the matched points. This method needs good calibration of the system geometry and requires breatheld acquisitions. The final algorithm is formulated as an energy minimization problem that we solve using dynamic programming optimization. This method provides a fast and automatic way to compute 3D models of vessels centerlines. It has been applied to both phantoms, for validation purposes, and patient data sets.