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

Claim 13:
14. A method of updating a three-dimensional model of an environment using a robotic device having a moveably-coupled image capture device, the method comprising:
instructing a movement of at least one of the image capture device and the robotic device within the environment;
obtaining image data representing an observation of the environment with the image capture device;
obtaining a measurement of the movement;
updating a model state of the robotic device, the model state of the robotic device comprising pose data for the robotic device and the image capture device, the updating comprising optimising a function of the model state and the measurement of the movement,
wherein the model state of the robotic device is a current model state of the robotic device, and
wherein updating the model state of the robotic device comprises jointly optimising the current model state of the robotic device and a previous model state of the robotic device based at least in part on a kinematic error,
wherein the kinematic error comprises a comparison of (i) a spatial relationship between the image capture device and the robotic device, and (ii) a kinematic measurement from the robotic device; and
updating the three-dimensional model of the environment based on a comparison of the image data and the three-dimensional model using the updated model state, the comparison comprising a projection using the updated model state.