**Recent Developments in Monocular SLAM within the HRI Framework**

Edmundo Guerra, Yolanda Bolea, Rodrigo Munguia and Antoni Grau

Additional information is available at the end of the chapter

http://dx.doi.org/10.5772/63820

### **Abstract**

This chapter describes an approach to improve the feature initialization process in the delayed inverse-depth feature initialization monocular Simultaneous Localisation and Mapping (SLAM), using data provided by a robot's camera plus an additional monocular sensor deployed in the headwear of the human component in a humanrobot collaborative exploratory team. The robot and the human deploy a set of sensors that once combined provides the data required to localize the secondary camera worn by the human. The approach and its implementation are described along with experimental results demonstrating its performance. A discussion on the usual sensors within the robotics field, especially in SLAM, provides background to the advantages and capabilities of the system implemented in this research.

**Keywords:** mapping and localization, sensors, visual odometry, HRI, features initiali‐ zation
