Space capture, modeling, and texture reconstruction through dynamic camera positioning and lighting using a mobile robot

A method performed by a robot in a local environment, comprising:

• capturing a first image of the local environment by an image capture device of the robot positioned at a first location in the local environment, wherein capturing the first image includes capture of a real surface in the local environment;
• processing the first image to determine texture information of the real surface, and further determine that a possible error exists in the determined texture information of the real surface;
• in response to determining the possible error, moving the robot to a second location, and capturing a second image of the local environment by the image capture device at the second location, wherein capturing the second image includes capture of the real surface from a perspective defined from the second location;
• processing the second image to verify the possible error in the determined texture information of the real surface, and correct the possible error in the determined texture information of the real surface.

A method performed by a robot in a local environment, comprising:

• capturing a first depth image of the local environment by a depth camera of the robot positioned at a first location in the local environment;
• processing the first depth image to determine a spatial structure of the local environment, and further determine that a possible error exists in the determined spatial structure of the local environment;
• in response to determining the possible error, moving the robot to a second location, and capturing a second depth image of the local environment by the depth camera at the second location, wherein capturing the second depth image includes capture of the local environment from a perspective defined from the second location;
• processing the second image to verify the possible error in the determined spatial structure, and correct the possible error in the determined spatial structure.