  We propose a Visual-SLAM based localization and navigation system for service
robots. Our system is built on top of the ORB-SLAM monocular system but
extended by the inclusion of wheel odometry in the estimation procedures. As a
case study, the proposed system is validated using the Pepper robot, whose
short-range LIDARs and RGB-D camera do not allow the robot to self-localize in
large environments. The localization system is tested in navigation tasks using
Pepper in two different environments: a medium-size laboratory, and a
large-size hall.
