Key points are not available for this paper at this time.
State of the art visual SLAM systems have recently been presented which are capable of accurate, large-scale and real-time performance, but most of these require stereo vision. Important application areas in robotics and beyond open up if similar performance can be demonstrated using monocular vision, since a single camera will always be cheaper, more compact and easier to calibrate than a multi-camera rig.
Strasdat et al. (Sun,) studied this question.