Summary: To solve the monocular camera-based mobile robot regulation problem, the kinematic model in camera coordinate is proposed under the condition of unknown range information, unknown translation parameter between robot and camera frames, camera with certain dip angle. A robust and adaptive controller is proposed based on the assumptions above. The controller guarantees exponential convergence of the system. The performance of the controller is validated by simulation and experiment result, showing that the controller could guarantee that the robot can be rapidly and smoothly regulated to the desired pose. The controller is also robust to unknown parameters.