This work presents a robust visual localization technique based on an omnidirectional monocular sensor for mobile robotics applications. We intend to overcome the non-linearities and instabilities that the camera projection systems typically introduce. which are especially relevant in catadioptric sensors. In this paper. https://www.ngetikin.com/limited-buy-LA-Williams-Belial-Dragon-by-LA-Williams-Google-Pixel-2-Skin-p114135-best-save/