1. A movement system, the system comprising: a particle filter unit to determine poses and weights of current particles by applying a detected pose variation to previously identified particles, with the detected pose variation being detected by a sensor to detect a pose variation in a pose of a mobile element; an evolution unit to update the determined poses and weights of the current particles by applying an evolution algorithm to the determined poses and weights of the current particles to estimate a current pose of the mobile element; a camera to capture an image of an outside of the mobile element; and a feature point processing unit to extract a least one feature point from the captured image and to create a map by processing the extracted feature point and the determined poses, with the processing of the extracted feature point including determining whether one of plural currently calculated gray gradient vectors for a current feature point match a previously calculated gray gradient vector for a previously extracted feature point, wherein the extracted feature point is scale-invariant and rotation-invariant from the captured image.