D. Alspach and H. Sorenson, Nonlinear Bayesian estimation using Gaussian sum approximations, Proceedings., IEEE, pp.439-448, 1972.
DOI : 10.1109/TAC.1972.1100034

T. Bailey, J. Nieto, J. Guivant, and M. Stevens, Eduardo Nebot. ? Consistency of the ekf-slam algorithm, IEEE/RSJ Intl Conf on Intelligent Robots and Systems, pp.3562-3568, 2006.

S. Benhimane and E. Malis, Homography-based 2D Visual Tracking and Servoing, The International Journal of Robotics Research, vol.26, issue.7, pp.661-676, 2007.
DOI : 10.1177/0278364907080252

D. and D. Photonique, Asservissement visuel et localisation d'un hélicoptère miniature, 2004.

A. I. Bibliographie, E. Comport, M. Marchand, F. Pressigout, and . Chaumette, ? Real-time markerless tracking for augmented reality : the virtual visual servoing framework, IEEE Trans. on Visualization and Computer Graphics, vol.12, issue.4, pp.615-628, 2006.

]. A. Davison and D. W. Murray, Simultaneous localization and map-building using active vision, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.24, issue.7, pp.865-880, 2002.
DOI : 10.1109/TPAMI.2002.1017615
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.135.7602

A. Davison, I. Reid, N. Molton, and O. Stasse, MonoSLAM: Real-Time Single Camera SLAM, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.29, issue.6, pp.1052-1067, 2007.
DOI : 10.1109/TPAMI.2007.1049
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.454.5419

D. Dementhon and L. Davis, Model-based object pose in 25 lines of code, International Journal of Computer Vision, vol.5, issue.1-2, pp.123-141, 1995.
DOI : 10.1007/BF01450852

M. Dhome, M. Richetin, J. Lapresté, and G. , Determination of the attitude of 3D objects from a single perspective view, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.11, issue.12, pp.1265-1278, 1989.
DOI : 10.1109/34.41365

M. Dhome, J. Lapresté, G. Rives, and M. Richetin, Spatial localization of modelled objects of revolution in monocular perspective vision, European Conf. on Computer Vision, ECCV'90, pp.475-485, 1990.
DOI : 10.1007/BFb0014897

T. Drummond and R. Cipolla, Real-time visual tracking of complex structures, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.24, issue.7, pp.932-946, 2002.
DOI : 10.1109/TPAMI.2002.1017620

T. Whyte and . Bailey, Simultaneous localization and mapping: part I, IEEE Robotics & Automation Magazine, vol.13, issue.2, pp.99-108, 2006.
DOI : 10.1109/MRA.2006.1638022

C. Estrada, J. Neira, and J. D. Tardos, Hierarchical SLAM: real-time accurate mapping of large environments, IEEE Transactions on Robotics, vol.21, issue.4, pp.588-596, 2005.
DOI : 10.1109/TRO.2005.844673

]. R. Eustice, H. Singh, and J. J. Leonard, Exactly Sparse Delayed-State Filters for View-Based SLAM, IEEE Transactions on Robotics, vol.22, issue.6, pp.1100-1114, 2006.
DOI : 10.1109/TRO.2006.886264

F. Dellaert, M. ?. Kaess, and S. Square-root, Simultaneous Localization and Mapping via Square Root Information Smoothing

O. Faugeras and G. Toscani, ? Camera calibration for 3D computer vision, Proc Int. Workshop on Machine Vision and Machine Intelligence, pp.240-247, 1987.

N. Fischler and R. C. Bolles, Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography, Communications of the ACM, vol.24, issue.6, pp.381-395, 1981.
DOI : 10.1145/358669.358692

A. P. Gee, D. Chekhlov, and W. Mayol, Andrew Calway . ? Discovering planes and collapsing the state space in visual slam, British Machine Vision Conference, 2007.

P. Gemeiner and P. Einramhof, Simultaneous Motion and Structure Estimation by Fusion of Inertial and Vision Data, The International Journal of Robotics Research, vol.26, issue.6, pp.591-605, 2007.
DOI : 10.1177/0278364907080058

J. E. Guivant and E. M. Nebot, Optimization of the simultaneous localization and map-building algorithm for real-time implementation, IEEE Transactions on Robotics and Automation, vol.17, issue.3, pp.242-257, 2001.
DOI : 10.1109/70.938382

]. G. Hager and P. Belhumeur, Efficient region tracking with parametric models of geometry and illumination, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.20, issue.10, pp.1025-1039, 1998.
DOI : 10.1109/34.722606

]. R. Hartley-01, A. Hartley, and . Zisserman, ? Multiple View Geometry in Computer Vision, 2001.
DOI : 10.1017/CBO9780511811685

R. Horaud, B. Conio, O. Leboulleux, and B. , An analytic solution for the perspective 4-point problem, Computer Vision, Graphics, and Image Processing, vol.47, issue.1, pp.33-44
DOI : 10.1016/0734-189X(89)90052-2
URL : https://hal.archives-ouvertes.fr/inria-00589992

M. Isard, A. J. Blake-]-s, J. K. Julier, and . Uhlmann, ? A counter example to the theory of simultaneous localization and map building Robotics and Automation ? Simultaneous localization and mapping in 3D environments with stereovision ? Pca-sift : A more distinctive representation for local image descriptor, ICRA. IEEE International Conference on Toulouse : Institut National Polytechnique IEEE Int. Conf. on Computer Vision and Pattern RecognitionKähler 07] Olaf Kähler, Joachim Denzler. ? Detecting coplanar feature points in handheld image sequences. Conference on Computer Vision Theory and Applications, pp.5-284238, 1998.

G. Klein, T. Drummond, ]. D. Koller, G. Klinger, E. Rosse et al., ? Towards constant time slam using postponement ? Real-time vision-based camera tracking for augmented reality applications ? An efficient multiple hypothesis filter for bearing-only slam. Intelligent Robots and Systems, Tightly integrated sensor fusion for robust visual tracking. Image and Vision Computing Proceedings. 2004 IEEE/RSJ International Conference on, pp.769-776, 1990.

]. G. Lopez-nicolas, J. J. Guerrero, O. A. Pellejero, and C. , Sagues. ? Computing homographies from three lines or points in an image pair, CIAP'05, pp.446-453, 2005.

]. D. Lowe, Fitting parameterized three-dimensional models to images, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.13, issue.5, pp.441-45091, 2004.
DOI : 10.1109/34.134043

]. E. Marchand-02a, F. Marchand, and . Chaumette, ? Virtual visual servoing : a framework for real-time augmented reality, p.2

]. E. Marchand-02b, N. Marchand, and . Courty, Controlling a camera in a virtual environment, The Visual Computer, vol.18, issue.1, pp.1-1997, 2001.
DOI : 10.1007/s003710100122

C. Mei and P. Rives, Robust wide baseline stereo from maximally stable extremal regions ? Cartographie et localisation simultanée avec un capteur de vision, British Machine Vision ConferenceMikolajczyk 05] Krystian Mikolajczyk, Cordelia Schmid. ? A performance evaluation of local descriptors Molton, A. J. Davison, I. D. Reid. ? Locally planar patch features for real-time structure from motion. British Machine Vision Conference, pp.384-3931615, 2002.

M. Montemerlo, S. Thrun, D. Koller, B. Wegbreit, J. Montiel et al., ? FastSLAM 2.0 : An improved particle filtering algorithm for simultaneous localization and mapping that provably converges ? Unified inverse depth parametrization for monocular slam. ? Robotics : Science and Systems [Newman 00] P. Newman. ? On the structure and solution of the simultaneous localisation and map building problem ? Outdoor slam using visual appearance and laser ranging, IEEE Intl Conf on Robotics and AutomationOberkampf 96] D. Oberkampf, D.F. Dementhon, L.S. Davis. ? Iterative pose estimation using coplanar feature points. Computer Vision and Image Understanding, pp.1180-1187495, 1996.

M. Ozuysal, P. Fua, V. Lepetit-phong, R. Horaud, A. Yassine et al., ? Object pose from a 2D to 3D point and line correspondance [Pietzsch 08] Tobias Pietzsch. ? Planar features for visual slam. German conf. on Advances in Artificial Intelligence ? Inertial aiding of inverse depth slam using a monocular camera Robotics and Automation ? Large-scale slam building conditionally independent local maps : Application to monocular vision [Rekleitis 03] Ioannis Rekleitis, Gregory Dudek, Evangelos Milios. ? Probabilistic cooperative localization and mapping in practice ? Three dimentional location estimation of circular features for machine vision, Fast keypoint recognition in ten lines of code. ? IEEE Int. Conf. on Computer Vision and Pattern Recognition IEEE International Conference on IEEE Intl. Conf. on Robotics and AutomationSafaee-Rad 92] R. Safaee-RadSalvi 01] J. Salvi, X. Armangue, J. Pages. ? A survey addressing the fundamental matrix estimation problem. Intl Conf. on Image Processing, pp.225-243, 1992.

S. Se, D. Lowe, and J. , Little. ? Mobile robot localization and mapping with uncertainty using scale-invariant visual landmarks

G. Silveira and E. Malis, Patrick Rives. ? Real-time robust detection of planar regions in a pair of images. Intl. Conf. Intelligent Robots and Systems Rives. ? An efficient direct approach to visual slam, IEEE Transactions on Robotics, vol.24, issue.5, pp.49-54969, 2006.

G. Simon and M. Berger, Pose estimation for planar structures, IEEE Computer Graphics and Applications, vol.22, issue.6, pp.46-53, 2002.
DOI : 10.1109/MCG.2002.1046628
URL : https://hal.archives-ouvertes.fr/inria-00100802

R. Smith, P. Self, and . Cheeseman, ? A stochastic map for uncertain spatial relationships Autonomous Mobile Robots, éd. par S. S. Iyengar, A. Elfes, pp.323-330, 1991.

P. Smith, A. Reid, and . Davison, Real-Time Monocular SLAM with Straight Lines, Procedings of the British Machine Vision Conference 2006, pp.17-26, 2006.
DOI : 10.5244/C.20.3
URL : http://spiral.imperial.ac.uk/bitstream/10044/1/5648/1/straight-line-slam.pdf

J. Sola, A. Monin, M. Devy, and T. Lemaire, ? Undelayed initialization in bearing only slam. Intelligent Robots and Systems, IROS 2005). 2005 IEEE/RSJ International Conference on, pp.2499-2504, 2005.

H. Surmann, A. Nüchter, and K. Lingemann, Joachim Hertzberg. ? 6d slam a preliminary report on closing the loop in six dimensions, IFAC Symposium on Intelligent Autonomous Vehicles, 2004.

J. D. Tardos, J. Neira, P. M. Newman, and J. J. Leonard, Robust Mapping and Localization in Indoor Environments Using Sonar Data, The International Journal of Robotics Research, vol.21, issue.4, pp.311-330, 2002.
DOI : 10.1177/027836402320556340

S. Thrun and W. Burgard, Dieter Fox. ? A probabilistic approach to concurrent mapping and localization for mobile robots, Machine Learning, pp.29-53, 1998.

R. Tsai and R. Lenz, A new technique for fully autonomous and efficient 3D robotics hand/eye calibration, You 99] S. You, U. Neumann, R. Azuma. ? Hybrid inertial and vision tracking for augmented reality registration. IEEE Virtual Reality, pp.345-358, 1989.
DOI : 10.1109/70.34770

.. En-x-de-la-caméra, Position, Simulation, vol.1, p.56

.. En-x-de-la-caméra, Position, Simulation, vol.2, p.57

3. Modélisation and L. De-la-caméra-et-de, carte pour une sélection d'images clés de la première séquence de résultats utilisant la reconnaissance de régions, p.136