Exploration and mapping of catacombs with mobile robots

Ziparo, V.; Zaratti, M.; Grisetti, Giorgio; Bonanni, Taigo Maria; Serafin, Jacopo; Cicco, Maurilio Di; Proesmans, Marc; Gool, Luc Van; Vysotska, Olga; Bogoslavskyi, Igor; Stachniss, Cyrill

doi:10.1109/ssrr.2013.6719380

Cited by 9 publications

(6 citation statements)

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“…On the contrary, its main disadvantage is that sometimes the transit with vans or cars is not possible due to conservation reasons or limitations of space (e.g., narrow streets). In this last case, it is possible to board the MLS on alternative platforms such as quads [62], backpack [16] or even autonomous robots [17].…”

Section: Discussionmentioning

confidence: 99%

Mobile LiDAR System: New Possibilities for the Documentation and Dissemination of Large Cultural Heritage Sites

et al. 2017

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Abstract:Mobile LiDAR System is an emerging technology that combines multiple sensors. Active sensors, together with Inertial and Global Navigation System, are synchronized on a mobile platform to produce an accurate and precise geospatial 3D point cloud. They allow obtaining a large amount of georeferenced 3D information in a fast and efficient way, which can be used in several applications such as the 3D recording and reconstruction of complex urban areas and/or landscapes. In this study the Mobile LiDAR System is applied in the field of Cultural Heritage aiming to evaluate its performance with the purpose to document, divulgate, or to develop an architectural analysis. This study was focused on the Medieval Wall of Avila (Spain) and, specifically, the performed accuracy tests were applied in the "Alcazar" gate (National Monument from 1884). The Mobile LiDAR System is then compared to the most commonly employed active sensors (Terrestrial Laser Scanner) for large Cultural Heritage sites in regard to time, accuracy and resolution of the point cloud. The discrepancies between both technologies are established comparing directly the 3D point clouds generated, highlighting the errors affecting the architectural structures. Consequently, and based on a detailed geometrical analysis, an optimization methodology is proposed, establishing a segmented and classified cluster for the structures. Furthermore, three main clusters are settled, according to the curvature: (i) planar or low curvature; (ii) cylindrical, mild transitions and medium curvature; and (iii) the abrupt transitions of high curvature. The obtained 3D point clouds in each cluster are analyzed and optimized, considering the reference spatial sampling, according to a confidence interval and the feature curvature. The presented results suggest that Mobile LiDAR System is an optimal approach, allowing a high-speed data acquisition and providing an adequate accuracy for large Cultural Heritage sites.

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Section: Discussionmentioning

confidence: 99%

Mobile LiDAR System: New Possibilities for the Documentation and Dissemination of Large Cultural Heritage Sites

et al. 2017

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“…Stating the challenging condition of the environment, characterised by narrow passages, debris, steep stairs, etc., a hand-held mobile indoor 3D mapping system (http://geoslam.com) was chosen for the survey. Portable mobile mapping systems (MMSs), either mounted on a robotic platform [17] or adapted to be easily carried or worn by persons [18,19], are very efficient and convenient for fast 3D mapping in complex and indoor scenarios. Their potential accuracy was investigated in previous research papers, both in indoor [20][21][22] and outdoor scenarios [22,23].…”

Section: D Surveying Of Sommo Alto Fortmentioning

confidence: 99%

Valorisation of history and landscape for promoting the memory of WWI

Nocerino

Menna

Toschi

et al. 2018

Journal of Cultural Heritage

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In recent years many activities were conducted to commemorate the 100th Anniversary of the First World War (WWI) outbreak. Among these, the VAST (valorisation of history and landscape) project (http://vast.fbk.eu) was part of the initiatives promoted by the Autonomous Province of Trento (Italy) as a tribute to WWI events in the region. The project was primarily aimed to document and promote, through 3D digitization approaches, ICT technologies and communication material, the memory of sites, theatre of the world conflict. The Trento's area was under the Austro-Hungarian Empire until the end of WWI and on the border with the Italian Kingdom. The area represented a crucial and bloody war front between the Austrian and Italian territories. It was thus constellated of military fortresses, trenches and tunnels, most of them now ruined and at risk to slowly disappear. 3D surveying and modelling techniques were exploited to produce 3D digital models of structures and objects, along with virtual tours, dissemination material and a WebGIS of the area. All the products are now used for restoration, valorisation, educational and communication purposes.

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“…Land-based mobile laser scanners mounted on vans or cars represent the best and a cost-effective solution for capturing 3D point clouds of urban areas with an high recording rate, high point density/accuracy and remote acquisition mode. Thanks to these benefits and to continuous developments in both scanning and navigation technologies, MMSs are gaining more and more importance in many application fields, such as civil engineering and construction (Slattery et al, 2012), environment (Bitenc et al, 2011), pipeline design (Kawashima et al, 2012), road inventory (Pu et al, 2011) and cultural heritage (Ziparo et al, 2013). A general review of the different solutions available on the market and a comparison of their technical specifications can be found in Puente et al (2013).…”

Section: Mms Technologymentioning

confidence: 99%

Accuracy Evaluation of a Mobile Mapping System With Advanced Statistical Methods

Toschi

Rodríguez‐Gonzálvez

Remondino

et al. 2015

Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci.

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ABSTRACT:This paper discusses a methodology to evaluate the precision and the accuracy of a commercial Mobile Mapping System (MMS) with advanced statistical methods. So far, the metric potentialities of this emerging mapping technology have been studied in few papers, where generally the assumption that errors follow a normal distribution is made. In fact, this hypothesis should be carefully verified in advance, in order to test how well the Gaussian classic statistics can adapt to datasets that are usually affected by asymmetrical gross errors. The workflow adopted in this study relies on a Gaussian assessment, followed by an outlier filtering process. Finally, non-parametric statistical models are applied, in order to achieve a robust estimation of the error dispersion. Among the different MMSs available on the market, the latest solution provided by RIEGL is here tested, i.e. the VMX-450 Mobile Laser Scanning System. The test-area is the historic city centre of Trento (Italy), selected in order to assess the system performance in dealing with a challenging and historic urban scenario. Reference measures are derived from photogrammetric and Terrestrial Laser Scanning (TLS) surveys. All datasets show a large lack of symmetry that leads to the conclusion that the standard normal parameters are not adequate to assess this type of data. The use of non-normal statistics gives thus a more appropriate description of the data and yields results that meet the quoted a-priori errors.

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Exploration and mapping of catacombs with mobile robots

Abstract: [No abstract available

Cited by 9 publications

References 0 publications

Mobile LiDAR System: New Possibilities for the Documentation and Dissemination of Large Cultural Heritage Sites

Mobile LiDAR System: New Possibilities for the Documentation and Dissemination of Large Cultural Heritage Sites

Valorisation of history and landscape for promoting the memory of WWI

Accuracy Evaluation of a Mobile Mapping System With Advanced Statistical Methods

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