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Presentado al ICRA/2007 celebrado en Roma (Italia). ; In this paper we present an observability analysis for a mobile robot performing SLAM with a single monocular camera. The aim is to get a better understanding of the well known intuitive behavior of these systems, such as the need for triangulation to features from different positions in order to get accurate relative pose estimates. The characterization of the unobservable directions is made using the nullspace basis of the stripped observability matrix. This allow us to identify which vehicle motions are required to maximize the number of observable states in the system, which in turn affects accuracy in the estimation process. The analysis is performed by modeling the system in the continuous time domain as piecewise constant. Simulation results using an extended information filter are shown to verify the results of the observability analysis. ; This work was supported by projects: 'Integration of robust perception, learning, and navigation systems in mobile robotics' (J-0929), 'Ubiquitous networking robotics in urban settings' (E-00938). ; This work is supported in part by the EU URUS project FP6-IST-045062, the Spanish Ministry of Education and Science under a FPI Scholarship to TVC, a Ramón y Cajal Postdoctoral Fellowship to JAC and the project DPI 2004-5414 to AS, and by the ARC Centre of Excellence programme, funded by the Australian Research Council (ARC) and the New South Wales State Government to MB and SS. ; Peer Reviewed

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