Zen / BB16-VSLAM is an intelligent indoor visual localization & mapping and planning system solely designed and developed by Bot3 to provide trackless solution for AGVs (Automatic Guided Vehicle) and mobile robots, such as robotic vacuum cleaners, security robots etc., to allow them to navigate autonomously. Bot3's innovative VSLAM algorithm uses a video camera to grasp and analyze the landmarks of ceiling and incorporating with data from other built-in sensors, our cutting-edge VSLAM module empowers the robot to build dynamic real-time 3D maps, enables the robot to accurately position itself, autonomously navigate and make path-planning in real-time, accomplishing true self-control, self-driving and self-path-decision-making.