Robotic vision based framework wherein an on-board camera device is used for scale estimation. Unlike conventional scale estimation methods that require inputs from more than one or more sensors. Embodiments of the present disclosure depicts a system and method to estimate scale online solely, without any other sensor, for monocular SLAM by using multirotor dynamics model in an extended Kalman Filter framework. This approach have clear advancement over convention scale estimation methods which require information from some other sensors or knowledge of physical dimension of an object within the camera view. An arbitrary scaled position and an Euler angle of a multirotor are estimated from vision SLAM (simultaneous localization and mapping) technique. Further, dynamically integrating, computed acceleration to estimate a metric position. A scale factor and a parameter associated with the multirotor dynamics model is obtained by comparing the estimated metric position with the estimated arbitrary position.
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