Human beings can easily use eyes to guide arms and hands to reach any particular pose. We have been trying to make robot imitate such intelligent hand-eye coordination behavior. In this paper, we report our research work on vision guided homing for humanoid service robot HARO-1 that has active stereovision and two modular arms. The work is based on the 3D vision reconstruction and geometric kinematics analysis. This intelligent behavior of HARO-1 significantly improves its performance by automatically rectifying its original home position and implementing self-homing guided by stereovision system. The implementation and experimental studies are also presented in the paper.