Ministry of Economy, Trade and Industry of Japan had run an R&D project on humanoid robotics since 1998 for five years. In the first two years, platforms for humanoid robotics research were developed. In the next three years, researches were carried on for five different applications. We joined a group of the cooperative works by a human and a humanoid robot and took charge of a robot vision system. We designed a stereo camera module on a humanoid robot, developed some calibration methods and incorporated 3D image processing algorithm into the robot. Through this R&D, we showed a possibility to apply a humanoid robot for field of construction.