COLLECTING TELEMETRY DATA FOR 3D MAP UPDATES

A method for collecting telemetry data for updating a 3D map of an environment comprising carrying out a first relocalization event whereby: data from an observation at time t1 by a pose tracker is used to compute a first 3D map pose of the pose tracker, and a first local pose of the pose tracker at time t1 is received. A second relocalization event occurs where a second 3D map pose of the pose tracker is computed from data from an observation at time and a second local pose of the pose tracker at time t2 is received. A first relative pose between the first and second 3D map pose is computed. A second relative pose between the first and second local pose is computed. A residual being a difference between the first relative pose and the second relative pose is stored as input to a process for updating the 3D map.