Vittorio Amos Ziparo
Robots for Exploration, Digital Preservation, and
Visualization of Archeological Sites
What do archeologist do?
Exploration, Monitoring and Documentation
State of the Art
Expensive and slow
The ROVINA promise
Goal
A better survey and monitoring tool
 Faster: perform surveys in much less time
 Better: bigger, more accurate and r...
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...
Autonomous digitization
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
•...
The 3D model’s skeleton
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
Adding the flesh!
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 an...
Thanks!
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
 A...
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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Rovina: Robot for Exploration, digital preservation and visualization of archeological sites - Ziparo

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

  1. 1. Vittorio Amos Ziparo Robots for Exploration, Digital Preservation, and Visualization of Archeological Sites
  2. 2. What do archeologist do? Exploration, Monitoring and Documentation
  3. 3. State of the Art Expensive and slow
  4. 4. The ROVINA promise
  5. 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. 6. Case Studies Catacombs of Rome and Naples  Huge and rich  Collapse hazard  Radon hazard
  7. 7. Mission Control Interface Adaptive interface
  8. 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. 9. Autonomous digitization
  10. 10. Mobility is a major challenge! Narrow corridors on rough terrain
  11. 11. Many hardware challenges IP specs, Sensors, Cooling and Power Systems
  12. 12. Need to take it easy or data will be too shaky!
  13. 13. Mobility and autonomy Probabilistic, information theoretic and semantic • Autonomous exploration • Autonomous navigation • Automated sensor deployment
  14. 14. The 3D model’s skeleton
  15. 15. Point Cloud Reconstruction Ocular Robotics RE05 Lidar
  16. 16. Point Clouds must be aligned Point Cloud Registration
  17. 17. Why alignment matters PWN, beyond Generalized ICP
  18. 18. We need more for global consistency Data association is key
  19. 19. Obtain consistency with optimization Simultaneous Localization and Mapping (SLAM)
  20. 20. Example: RGB-D Camera map Catacombs of Santa Priscilla in Rome
  21. 21. Adding the flesh!
  22. 22. Structure from motion Reconstruction from pictures
  23. 23. Example ARC-3D reconstruction of Mogao Cave
  24. 24. Learning materials Embedding reflectance information
  25. 25. Removing light effects Walls and ceilings
  26. 26. Example 1: Learning reflectance Pig tablet
  27. 27. Example 2: Learning Reflectance Buddha statue
  28. 28. And so much more is coming! www.rovina-project.eu
  29. 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. 30. Thanks!
  31. 31. Design through simulations Device layout and sensor coverage
  32. 32. 32 Hardware needs iterations too! Housing, power system, microcontrollers and more …
  33. 33. Camera array Sensors need prototyping too
  34. 34. Example1 Materials for extra realistic renderings
  35. 35. Learning semantics Better renderings, navigation and classification  Learn shape and materials  Learn traversability  Automated classification of  objects  areas
  36. 36. Learning semantics Better renderings, navigation and classification
  37. 37. Case study on semantics Getting people out of the way
  38. 38. 38 Robot design (and demo!) We need to house, protect and power many devices!
  39. 39. State of the Art it can be a dangerous job too!
  40. 40. Robot Mobile base, Sensors, Cooling and Power Systems

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