[ASME ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference - San Diego, California, USA (August 30–September 2, 2009)] Volume 3: ASME/IEEE 2009 International Conference on Mechatronic and Embedded Systems and Applications; 20th Reliability, Stress Analysis, and Failure Prevention Conference - Rao-Blackwellized Particle Filter Approach to Monocular vSLAM With a Modified Initialization Scheme