Warren2010.enl10Warren, MichaelMcKinnon, D.He, H.Upcroft, BenWyeth, GordonUpcroft, BenUnaided stereo vision based pose estimationAustralasian Conference on Robotics and AutomationAustralasian Conference on Robotics and AutomationStereo visionvisual odometryfield roboticscomputer visiondataset2010BrisbaneAustralian Robotics and Automation Associationinternal-pdf://c39881.pdfhttp://eprints.qut.edu.au/39881/This paper presents the development of a low- cost sensor platform for use in ground-based vi- sual pose estimation and scene mapping tasks. We seek to develop a technical solution using low-cost vision hardware that allows us to accu- rately estimate robot position for SLAM tasks. We present results from the application of a vi- sion based pose estimation technique to simul- taneously determine camera poses and scene structure. The results are generated from a dataset gathered traversing a local road at the St Lucia Campus of the University of Queens- land. We show the accuracy of the pose esti- mation over a 1.6km trajectory in relation to GPS ground truth.