  In this paper we propose a novel observer to solve the problem of visual
simultaneous localization and mapping, using the information of only the
bearing vectors of landmarks observed from a single monocular camera and
body-fixed velocities. The system state evolves on the manifold $SE(3)\times
\mathbb{R}^{3n}$, on which we design dynamic extensions carefully in order to
generate an invariant foliation, such that the problem is reformulated into
online parameter identification. Then, following the recently introduced
parameter estimation-based observer, we provide a novel and simple solution to
address the problem. A notable merit is that the proposed observer guarantees
almost global asymptotic stability requiring neither persistent excitation nor
uniform complete observability, which, however, are widely adopted in the
existing works.
