关键词: 视觉里程计, 极线几何, 平面单应性, 加速鲁棒特征（SURF）

Abstract: This paper presents a robust method for monocular visual odometry capable of accurate position estimation of a mobile robot, and this algorithm uses a single camera to extract SURF（Speeded Up Robust Features） features points on the road of the consecutive frames. Matching the feature points of two consecutive frames, it combines with epipolar geometry, and then gets the pose transformation matrix of the vehicle based on homography matrix. The experimental results show that this algorithm has high accuracy and a good performance of real-time.

Key words: visual odometry, epipolar geometry, homography, Speeded Up Robust Features（SURF）