Carlos, seen as the best full-back in the world, should line-up at left-back for Brazil while Stephen takes his customary right-back role for Ireland in the friendly at Lansdowne Road.
Stephen believes the Real Madrid star has everything. "If I play against him I hope I'll enjoy it," said Stephen.
"He's an amazing full-back and a player I've based my game on a bit, him and Cafu, great players.
"He's a magnificent player, I love watching him and I love watching Brazil. They make the game so pretty.
"It's the beautiful game and they show how beautiful it is. It will be completely different to any other opposition we're used to."
So what makes Carlos so great? "He's strong, quick, has a great strike on him and gets up and down. I think that's everything you need as a full-back.
"He puts the onus on his winger to defend. He sends out that mind game where he says to the winger 'you're going to have to defend against me today' and there are very few full-backs in the world who can do that, Cafu, Maldini perhaps.
"They make sure the winger had to work very hard and it's a great psychological game to play. I just hope he doesn't do it with us."
Stephen Carr says he's based parts of his own game on Roberto Carlos - the man he could face head on tonight.