本文的目的在設計並實現ㄧ部具有三維立體視覺的影像伺服控制之輪型機器人，以筆記型電腦為基本平台，搭配影像前處理，以兩台攝影機重建3D立體視覺，輔以雷射尋標器擷取附近環境資訊，建構出一即時立體影像追蹤系統。目標物追蹤主要是採用雙眼立體視覺架構取出成對影像，將影像處理後，再將雙影像中的特徵點以光流追蹤法來取得其世界座標，藉此取得深度資訊，依此深度資訊來達到追蹤的目的。
實驗主要分成三個部分：第一個部分為『目標物縱向追蹤』，目的在使雙攝影機能確實的將目標物的特徵點與機器人的深度算出，並同時間校正，與雷射尋標器互相比對，並將深度資訊送入控制器中控制馬達使機械人與目標物距離鎖定在預設距離中，以達到追蹤效果。第二個部分是『目標物橫向追蹤』，此時需測量目標物橫向的位置座標，藉此位置座標將目標物鎖定在影像中心，進行追蹤。最後將第一部分與第二部分合併，先以雙攝影機模組鎖定目標物，並前進至目標物前方預設距離後，自動切換成雷射模組進行最小值追蹤。

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