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

Claim 0:
1. A mapping system for a robotic device, the robotic device comprising one or more actuators to move the robotic device within an environment and a moveable mount for an image capture device, the mapping system comprising:
a state engine to jointly optimise a current state of the robotic device and a previous state of the robotic device based on a kinematic error, an odometric error and a geometric error,
wherein each state of the robotic device comprises data indicating a pose of the robotic device with respect to a model of the environment and data indicating a pose of the image capture device with respect to the model,
wherein the kinematic error comprises a function of a kinematic measurement associated with the moveable mount and a pose of the image capture device with respect to the robotic device derived from the current state,
wherein the odometric error comprises a function of an odometry measurement associated with the one or more actuators and an odometric difference between the current state and the previous state,
wherein the geometric error comprises a comparison of image data from the capture device and the model of the environment, the comparison using a projection based on the current state,
wherein the mapping system is configured to update the model using the current state following optimisation by the state engine.