A binocular visual relative positioning system based on CMOS vision camera chips is presented. The hardware structure of the system, selection of components and design of corresponding interface circuits are described. The hardware system includes: image collecting equipments, memories, a controller, a DSP and external interface circuits. An example is given. Being compact and highly integrated, the system has flexible interfaces, consumes low power and is of high precision. It can be easily installed in equipments, especially in embedded systems. So it have applications in many fields.