This paper shows how to make use of computers to facilitate sampling inspection based on GB2828-87 and ISO2859. A computer program CASIA is introduced.

In the last, using MATLAB software realizes the algorithm of iris recognition; experiment has performed on CASIA iris image database and has got a good effect.

At last, CASIA-I mobile robot designed and developed by us is employed to have an experiment in order to testify the validity of the proposed global self-localization and navigation method.