Rovina: Robot for Exploration, digital preservation and visualization of archeological sites - Ziparo

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Le slide di Vittorio Amos Ziparo presentate a Codemotion Roma 2014

Technologie Business

Vittorio Amos Ziparo
Robots for Exploration, Digital Preservation, and
Visualization of Archeological Sites

What do archeologist do?
Exploration, Monitoring and Documentation

Goal
A better survey and monitoring tool
 Faster: perform surveys in much less time
 Better: bigger, more accurate and richer models
 Safer: no danger for human operators

Case Studies
Catacombs of Rome and Naples
 Huge and rich
 Collapse hazard
 Radon hazard

Mission Control Interface
Adaptive interface

Cloud-based archive
Time machine and virtual archeological site
1. General Public: high fidelity 3D interactive experience
2. Historians: semantically rich digital archive
3. Engineers: advanced measurement and diagnosis tool

Mobility is a major challenge!
Narrow corridors on rough terrain

Many hardware challenges
IP specs, Sensors, Cooling and Power Systems

Need to take it easy
or data will be too shaky!

Mobility and autonomy
Probabilistic, information theoretic and semantic
• Autonomous exploration
• Autonomous navigation
• Automated sensor deployment

Point Cloud Reconstruction
Ocular Robotics RE05 Lidar

Point Clouds must be aligned
Point Cloud Registration

Why alignment matters
PWN, beyond Generalized ICP

We need more for global consistency
Data association is key

Obtain consistency with optimization
Simultaneous Localization and Mapping (SLAM)

Example: RGB-D Camera map
Catacombs of Santa Priscilla in Rome

Structure from motion
Reconstruction from pictures

Example
ARC-3D reconstruction of Mogao Cave

Learning materials
Embedding reflectance information

Removing light effects
Walls and ceilings

Example 1: Learning reflectance
Pig tablet

Example 2: Learning Reflectance
Buddha statue

And so much more is coming!
www.rovina-project.eu

Conclusions
Digitalization and exploration of archeological sites
 Robotics and AI for process automation
 Fast, safe and cheap digitization of archeological sites
Accurate maps of previously unexplored sites
 Appealing 3D models for analysis or online fruition
We need MANY alpha testers, stay in touch!
 follow us on: facebook.com/rovina.project

Design through simulations
Device layout and sensor coverage

32
Hardware needs iterations too!
Housing, power system, microcontrollers and more …

Camera array
Sensors need prototyping too

Example1
Materials for extra realistic renderings

Learning semantics
Better renderings, navigation and classification
 Learn shape and materials
 Learn traversability
 Automated classification of
 objects
 areas

Learning semantics
Better renderings, navigation and classification

Case study on semantics
Getting people out of the way

38
Robot design (and demo!)
We need to house, protect and power many devices!

State of the Art
it can be a dangerous job too!

Robot
Mobile base, Sensors, Cooling and Power Systems

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