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 models 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