This paper proposed automatically mobile robot navigation under an eye-to-hand camera configuration using fish-eye camera. One camera was used to provide the global path-planning. The image is captured by the fish-eye camera mounted on the ceiling followed by camera calibration, visual pose detection of targets, obstacle, robot and path planning. The visibility graphs and Dijkstra’s algorithm are used for mobile robot finding shortest way to the target. The other camera mounted on the mobile robot to provide detection of hidden target from the ceiling camera.