Robots can be used to explore, digitally preserve, and visualize archeological sites in a faster, more accurate, and safer way compared to human workers. A mobile robot equipped with sensors can construct 3D point clouds and photo textures of sites to create rich digital models. Advanced navigation systems allow robots to autonomously map and traverse complex 3D environments. Resulting cloud-based digital archives provide high-fidelity virtual experiences to the public and advanced analysis tools for historians and engineers.

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

2. Motivation
Exploration, Monitoring and Documentation

3. State of the Art
Expensive, Time Consuming and Dangerous

4. Case Studies
Catacombs of Rome and Naples
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Huge and rich
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High humidity (98%)
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Radon hazard

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. Robot
Mobile base, Sensors, Cooling and Power Systems

7. Point Cloud Reconstruction
Ocular Robotics RE05 Lidar

8. The model skeleton
Cloud registration and global consistency

9. Adding textures
Reconstruction from pictures

10. Example
ARC-3D reconstruction of Mogao Cave

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

12. Mobility is a major challenge!
large 3D Maze on rough terrain

13. Navigation
Mobility in harsh environments
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3D navigation system
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probabilistic,
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semantic and
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information-theoretic

14. Mission Control Interface
Multi-Modal mode

15. Mission Control Interface
Supervisory and dialog modes

16. 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

17. Stay updated!
www.rovina-project.eu

18. Thanks!

19. Consortium
Partners and Teams
navigation & exploration
semantic analysis
photogrammetry
SLAM and Morphometry
robot & HCI/HRI
user requirements

20. Project Overview
Core Components & Consortium