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Published on Aug 19, 2012
The teleoperated robot Irma3D, developed at Jacobs University Bremen, recorded several 3D laser scans in Ostia Antica ( https://plus.google.com/photos/116873..., http://www.ostia-antica.org/ ). The Riegl VZ-400 scanner provides high speed, high-precise, non-contact data acquisition using a fast scanning mechanism. The robot estimates its pose, i.e., its position and orientation, using wheel encoders and an inertial measurement unit. In a stop-scan-go fashion, the robot acquired data from a large archeological site, the habour city of ancient Rome. Precise registration of the 3D scans was automatically performed with 3DTK - The 3D Toolkit ( http://threedtk.de/ ). The time consuming usage of markers for registration is not needed. The resulting 3D model enables archeologists to draw conclusions about the usage of the Garden Houses in Ostia. 3D scanning while driving the robot as proposed in the project AUTOSCAN results in an even faster acquisition procedure. Using our SLAM algorithms, the quality of the 3D point cloud is similar to the stop-sca-go acquisition approach.
We are grateful to the Soprintendenza Speciale per i Beni Archeologici di Roma - Sede di Ostia (A. Pellegrino) and Università Sapienza di Roma (S.Falzone) for the work permit and the coordination at Ostia antica