Patent ID: 11874133
Assignee: IMPERIAL COLLEGE INNOVATIONS LIMITED
Field: Control (Instruments)
Classification: CPC G  B | IPC B  G

Claim 8:
9. A robotic device comprising:
an image capture device;
a movable mount on which the image capture device is moveably mounted with respect to the robotic device;
one or more actuators to move one or more of the robotic device and the image capture device with respect to an environment;
a state engine to update a state of the robotic device; and
a mapping engine to generate a three-dimensional model of the environment using the state of the robotic device,
wherein the state of the robotic device comprises at least a transformation of the image capture device with respect to the three-dimensional model,
wherein the state engine is configured to update the state of the robotic device based on a comparison of the state of the robotic device and measurements obtained from the one or more actuators,
wherein the mapping engine is configured to compare an image from the image capture device with the three-dimensional model based on the state of the robotic device to update the three-dimensional model,
wherein the state of the robotic device is a current state of the robotic device, and
wherein to update the current state of the robotic device, the state engine is configured to jointly optimise the current state of the robotic device and a previous state of the robotic device based at least in part on a kinematic error,
wherein the kinematic error comprises a function of a kinematic measurement associated with the movable mount and a pose of the image capture device with respect to the robotic device derived from the current state.