[ros-users] Localization from a camera (or two)?

     I have a super-cheap robot that has one webcam, and may have two, set
up to be a stereo pair. Are there any projects working on getting
localization from an image source or a point cloud? Also, a related
question, does vslam create the same kind of maps that slam_gmapping
creates? When I watched the vslam video, it looks like it's a map of
tracking points, not a map of the environment.