IMPROVED VISUAL NAVIGATION FOR A ROBOTIC WORK TOOL

A robotic work tool (100) comprising one or more satellite navigation sensors (175), a visual sensor (185) and a controller (110), wherein the controller (110) is configured to utilize the one or more satellite navigation sensors (175) to determine a reference for a ground-plane estimation and to utilize the visual sensor (185) to perform visual odometry navigation, and to utilize ground-plane estimation based on the visual sensor (185) and the reference from the satellite navigation sensors (175) to provide a scale (TS) for the visual odometry navigation.