A B S T R A C TThe use of versatile and multipurpose robotic systems in underwater sites constitutes a high-value technology, useful in the exploration, monitoring, and documentation of important archaeological findings or biological parameters. Intervention must always be nondestructive, noninvasive, and delicate; for this reason, it is important to develop tools and systems that allow telepresence and improve the pilot's ability to work in conditions and environments that are dangerous and often inaccessible for divers. One of the most important objectives of underwater robotic research includes developing easy-to-use devices and systems that can safely and efficiently be operated by relatively inexperienced operators. Nowadays, archaeological and marine sanctuaries require a significant budget to be studied and preserved by national and international organizations because of their large number and the challenges related to conducting surveys with "light" equipment and robots. This paper presents a set of tools and technological solutions developed with the common aim of improving the efficiency of diving operations and commercial lowcost micro-ROVs (remotely operated vehicles) in surveying and documenting fragile underwater sites. In particular, this paper describes a force feedback joystick for ROV precise guidance and positioning, an innovative 3D live streaming capability for better perception of the work environment, and an innovative cloud strategy for processing, archiving, and elaborating on underwater data at the time of survey. Results have demonstrated that the developed tools significantly improve the efficiency of survey investigations performed directly by scientists and that they have a variety of applications and their design prepares them for future integration.
This article describes ongoing developments of the VENUS European Project (Virtual ExploratioN of Underwater Sites, http://www.venus-project.eu) concerning the first mission to sea in Pianosa Island, Italy in October 2006. The VENUS project aims at providing scientific methodologies and technological tools for the virtual exploration of deep underwater archaeological sites. The VENUS project will improve the accessibility of underwater sites by generating thorough and exhaustive 3D records for virtual exploration. In this paper we focus on the underwater photogrammetric approach used to survey the archaeological site of Pianosa. After a brief presentation of the archaeological context we shall see the calibration process in such a context. The next part of this paper is dedicated to the survey: it is divided into two parts: a DTM of the site (combining acoustic bathymetry and photogrammetry) and a specific artefact plotting dedicated to the amphorae present on the site.
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