1. 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

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

3. 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

4. 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