While colour camera was used for detecting dynamic objects in the environment, three cameras in the robot body were used for stereo vision. The results from these cameras produced a depth map of the environment. The performance of the stereo algorithm was first tested by letting the robot move forward in its environment. If an obstacle was encountered the robot would choose to move left or right depending on where the obstacle was. Obstacles were defined as any object that is closer than a specified distance (about 30cm). The robot was able to avoid static objects in the environment as well as dynamic objects such as people walking in front of the robot.