Le slide di Vittorio Amos Ziparo presentate a Codemotion Roma 2014

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

2. What do archeologist do?
Exploration, Monitoring and Documentation

3. State of the Art
Expensive and slow

4. The ROVINA promise

5. 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

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

7. Mission Control Interface
Adaptive interface

8. 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

9. Autonomous digitization

10. Mobility is a major challenge!
Narrow corridors on rough terrain

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

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

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

14. The 3D model’s skeleton

15. Point Cloud Reconstruction
Ocular Robotics RE05 Lidar

16. Point Clouds must be aligned
Point Cloud Registration

17. Why alignment matters
PWN, beyond Generalized ICP

18. We need more for global consistency
Data association is key

19. Obtain consistency with optimization
Simultaneous Localization and Mapping (SLAM)

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

21. Adding the flesh!

22. Structure from motion
Reconstruction from pictures

23. Example
ARC-3D reconstruction of Mogao Cave

24. Learning materials
Embedding reflectance information

25. Removing light effects
Walls and ceilings

26. Example 1: Learning reflectance
Pig tablet

27. Example 2: Learning Reflectance
Buddha statue

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

29. 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

30. Thanks!

31. Design through simulations
Device layout and sensor coverage

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

33. Camera array
Sensors need prototyping too

34. Example1
Materials for extra realistic renderings

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

36. Learning semantics
Better renderings, navigation and classification

37. Case study on semantics
Getting people out of the way

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

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

40. Robot
Mobile base, Sensors, Cooling and Power Systems