This paper presents a stereoscopic vision system for the

mini-robot Khepera. The vision system performs objects

detection by using the stereo disparity and stereo

correspondence. The stereoscopic vision system enhances

robot’s visual perception ability by grabbing stereo images

and analysis 3D objects, while the robot doesn’t need to

move. The simple principle of our stereo vision is the less

displacement of correspondence pixels shows that the

pixels object is far away. To realize the stereo vision and

its calculation algorithms, the mini robot needs a powerful

FPGA and micro-controller module as well as 2D color

cameras. An application of Khepera equipped with the

stereoscopic camera is robot soccer in the KheperaSot

league. In the match, the robot has to be able to detect its

environment, i.e. the ball, walls, goals and its opponent.