Carpet drift estimation using differential sensors or visual measurements

A-robotic device comprising:

• an imaging sensor;
• an actuator system configured to move the robotic device across a surface, the actuator system comprising:
• a plurality of left wheels interconnected by a left track, and
• a plurality of right wheels interconnected by a right track;
• and
• a controller communicatively coupled to the imaging sensor, wherein the controller is configured to:
• extract features from two or more images captured by the imaging sensor;
• match extracted features from the two or more images;
• generate visual observations of motion based on a motion of matching extracted features relative to the two or more images;
• estimate drift based at least on the visual observations of motion;
• determine, from the estimated drift, whether the surface is carpeted or non-carpeted;
• in response to determination that the surface is carpeted, generate a drift vector based at least on the visual observations of motion;
• generate commands, using the drift vector, configured to compensate for the estimated drift;
• and
• send the generated commands to the actuator system to compensate for the estimated drift.