METHOD AND CONTROL SYSTEM FOR SIMULTANEOUS LOCALIZATION AND CALIBRATION

The invention relates to a navigation method, a robot and a non-transitory computer readable medium having stored program instructions executable by a computing system to cause the computing system to perform the navigation method. The robot comprises a sensor and a control system configured to: receive sensor data indicative of a plurality of markers detected by the sensor when the robot is located at a plurality of robot poses within an environment; determine a pose graph representing the plurality of robot poses and the plurality of markers, wherein the pose graph comprises a plurality of edges associated with a cost function representing an error in consecutive robot poses based on a robot motion model; determine one or more motion model parameters for the robot that optimize the cost function associated with the plurality of edges in the pose graph; and control the robot to navigate within the environment based on the determined one or more motion model parameters.