"There is" is your best and only bet when you want to address the existence of something, no matter what position in the sentence your "there" is going to claim.
There was a narrow bed in the corner although he claimed it's the floor where he makes his bed.
Although he claims the sleeps on the floor, there is a bed in his bedroom.
Just mind you this "there is" thing clutters your writing unless used in moderation.
If this existence stuff is not your priority, you could always cut the phrase and restate your case using another verb:
In the corner stood a narrow bed; the embroidery on its spread reminded me of my mother's knitting.