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Main research topics in our laboratory are a robotics system for collecting various kinds of information in daily environment, such as an office and a town, and a computer vision system for robots coexisting with human. Since the daily environment is complex and unpredictable, robots need a variety of information in advance to coexist with human safely. However, it is difficult for human to expect all necessary information and prepare it for robots. It would be convenient if robots could obtain (learn) all necessary information, but robots would need long time and various kinds of experiences. Moreover, complicated learning systems and tons of memories are necessary. So in our laboratory, we focus on an environment where robots coexist with human, and we have been working on following researches; (i) the environment itself obtains all necessary information for robots, (ii) the information is embedded to the environment, (iii) robots get it whenever needed.