Master thesis project, entitled “Visual Odometry Technique for challenging environment with focus on low-texture”, has been carried out at PIC4SeR (Politecnico di Torino Interdepartmental Centre for Service Robotics). Service robotics is based on creating autonomously or semi-autonomously systems useful for the human wellbeing. It can have several applications ranging from precision agriculture to space and to services for people with disabilities. The latter is the field of this research project: visual sensor is mounted on a wheelchair that is moved in indoor environment. Different cameras and Visual Odometry algorithms are evaluated in order to obtain a precise real-time position variation, focusing on low-texture challenge.