Pablo F. Alcantarilla, Luis M. Bergasa Department of Electronics, University of Alcalá, Madrid, Spain Olivier Stasse, Sebastien Druon Joint Robotics Laboratory, CNRS-AIST, Tsukuba, Japan Frank Dellaert School of Interactive Computing, Georgia Institute of Technology, Atlanta, USA Submission to Autonomous Robots

STEREO VISUAL SLAM We learn a 3D map of the environment, by means of stereo visual SLAM techniques

MONOCULAR VISION-BASED LOCALIZATION Monocular Vision-Based Localization given a prior 3D map and camera poses from a previous 3D reconstruction We perform Visibility Prediction to predict the most highly visible 3D points given a prior camera pose Then, we establish 2D-3D correspondences between detected 2D features and 3D map elements Finally, after data association we solve the PnP problem and estimate the localization of the robot in the map

LOCALIZATION EXPERIMENTS O Detected 2D Features + Visible 3D Map Points Re-Projections Inlier PnP problem Outlier PnP problem + Predicted Visible 3D Points + 3D Map Points RGB Camera Pose Robot Trajectory