The aim of this thesis is to propose new techniques in the areas of mobile robotics. In particular, we studied innovative data processing techniques devoted to the estimation of the relative pose of a multicamera system, which can be used also on mobile robots. The estimated pose is obtained thanks to heterogeneous sensors mounted on the platform. So, a method of extrinsic calibration is used applied to a multicamera system. Later, the already calibrated multicamera system will be used for both robot localization and for the analysis of the surrounding environment. In order to validate all the methods, we utilize algorithms applied in general for the multicamera system, but we have validated them with a minimum number of cameras, i.e.