[emanuelev]

Yep, possibly. This approach has been successfully exploited in real-time SLAM for instance [1][2][3]

[1]http://link.springer.com/chapter/10.1007%2F978-3-642-33786-4... [2]http://www.doc.ic.ac.uk/~ahanda/VaFRIC/iclnuim.html [3]http://robotvault.bitbucket.org/