"We have examined the original location where the fire started, and there is nothing to suggest at this time that the fire was started deliberately", he said.
The queen, sporting a royal blue ensemble, met with volunteers, local residents and community representatives throughout their visit, as William reportedly called the tragedy "one of the most awful things I have seen".
Prime Minister Theresa May has visited survivors of the Grenfell Tower fire in hospital, as supporters defended her against claims she was failing to engage with those affected by the tragedy. Police are also considering whether criminal offences had been committed which led to Wednesday's fire tragedy in 24-storey Grenfell Tower.
Six victims have been provisionally identified so far, but Cundy told BBC that police "may not be able to identify everybody".
Six bodies have been recovered from what remains of the 24-storey building, with a further 11 known to be located inside that can not yet be removed. The Independent reports that Saye posted to Facebook at 3 am Wednesday that she and her mother were trapped in their apartment, and asked people to pray for them.
Queen Elizabeth, 91, and her grandson Prince William also visited residents and emergency workers on Friday.
London Fire Brigade fire fighters worked through the night to try and account for whole families that are still missing in the huge fire at the Grenfell Tower on the Lancaster West Estate in Latimer Road.
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Cundy said one of the victims was a person who died in hospital.
As the search for missing people enters its third day, anger among the residents was still palpable but they are less keen to talk as television cameras swarm the scene.
Unlike opposition leader Jeremy Corbyn and London Mayor Sadiq Khan, who was confronted by a young boy asking "How many children died?", May did not meet with residents, prompting criticism from locals, media and within her Conservative party.
London Fire Commissioner Dany Cotton said her crews had identified a "number" of those killed, "but we know there will be more".
Anger is growing from members of the local and national community as to why the fire spread so quickly, with many calling into question whether fire and safety regulations were adhered to in the construction and recent refurbishment of the tower.
Housing Minister Alok Sharma said the government "stands ready to provide every assistance - we will support every family that is affected".
Pressed again on whether she had failed to understand the anger felt by the public, she said: "This was a bad tragedy that took place".
"I spoke with people who ran from the fire in only the clothes they were wearing", she said in a statement.