For Autonomous Vehicles (AVs) to take over, they must reach a high level of reliability. Different aspects are to be considered in the development of well-performing AVs. An important one is the development of a robust and accurate localization for AVs. Localization is the act of determining the vehicle position with respect to its environment. Cameras are available on almost all AVs and mobile robots, and research shows the benefits using them in the localization process. Monocular VO is the process of determining the position and orientation of a vehicle using one camera. Visual odometry systems are usually based on epipolar geometry which embed information on the geometric relation between two views of a scene.