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In this paper, a complete system for outdoor robot navigation is presented. It uses only monocular vision. The robot is first guided on a path by a human. During this learning step, the robot records a video sequence. From this sequence a three dimensional map of the trajectory and the environment is built. When this map has been computed, the robot is able to follow the same trajectory by itself. Experimental results carried out with an urban electric vehicle are shown and compared to thedoi:10.1109/iros.2005.1545495 dblp:conf/iros/RoyerBDTLM05 fatcat:edeefgtpobdj5l3wq6vimau2c4