To improve the positioning accuracy of picking manipulator, research of stereo vision positioning for picking object in dynamic was studied. And system composition and positioning principle of stereo vision for vibratory object were introduced. Moreover, experimental platform, which simulated the vibration while picking, was designed for the stereo vision positioning experiment in static condition or vibratory condition. Therefore, influence of vibration condition on the depth information of vision positioning can be analyzed and the regression equation of depth error can be built. The results showed that when the object vibrating, the depth error increased. The vibratory frequency was the most important factor, and the depth error would increase with the frequency increased. The influence of vibratory direction and amplitude on depth error was also significant, but much less than frequency.