The Simultaneous Localisation and Mapping (SLAM) problem asks if it is possible for a mobile robot to be placed at an unknown location in an unknown environment and for the robot to incrementally build a consistent map of this environment whi

With mobile robot being applied to military area、manufacturing and daily llife etc，it is an active and promising research area and attracts much more attention． Mobile robot’S localization and navigation based on stereo vision is becoming one of