The EC-funded ROVINA project has been evaluated on September 26, 2016 in Luxembourg. As in the past, we have been successful at this final review meeting, so that ROVINA received…
The EC-funded ROVINA project has been evaluated on September 26, 2016 in Luxembourg. As in the past, we have been successful at this final review meeting, so that ROVINA received…
The software release "FPS Mapper" can be downloaded.
FPS Mapper - the Fast Pose Solver Mapping Suite is the heart of the Kinect/Xtion-based ROVINA mapping system It is a thin…
The software release "ROVINA Code Base" can be downloaded.
Release of the ROVINA Code Base
The software release "Semantic Segmentation ROS node" can be downloaded.
The semantic segmentation ros node used in ROVINA. This is the repository released on github. It depends on the UNIROMA…
The paper "Robots for Exploration, Digital Preservation and Visualization of Archeological Sites" has been published (Artificial Intelligence for Cultural Heritage)
Abstract: Monitoring and conservation of archaeological sites
are important activities…
The paper "Unsupervised Calibration of Wheeled Mobile Platforms" has been published (Proceedings of the IEEE Int. Conf. on Robotics & Automation (ICRA))
Abstract: This paper describes an unsupervised approach to
…
The paper "Robust Exploration and Homing for Autonomous Robots" has been published (In Press)
Abstract: The ability to explore an unknown environment is an important prerequisite for building truly autonomous…
The paper "Robust Homing for Autonomous Robots" has been published (Proceedings of the IEEE Int. Conf. on Robotics & Automation (ICRA) )
Abstract:
We have been recording several parts of the Priscilla catacomb in Rome using the ROVINA platform.
The consortium has been successfully testing the homing catabilties of the ROVINA robot even in cases in which the mapping system fails. A short example is shown in this video.
The Mission Control Interface has been tested by non-expert users during two sessions: the first one in the laboratories of the DIAG Department of "Sapienza" University of Rome, the second…
The paper "Speeding-Up Robot Exploration by Exploiting Background Information" has been published (IEEE Robotics and Automation Letters (RA-L))
Abstract:
The software release "Thin-Drivers" can be downloaded.
A collection of light-weight ROS drivers developed within/fior ROVINA
The paper "Non-Parametric Calibration for Depth Sensors" has been published (Robotics and Autonomous Systems)
Abstract: RGBD sensors are commonly used in robotics applications for many purposes, including 3D reconstruction
of…
We are pleased to announce that ROVINA has been awarded the “Non sprecare” 2015 prize for its potential in the context of sustainable development of cultural heritage tourism. The “Non…
ROVINA Project has been presented @ Maker Faire Rome: we showed the 3D models of the catacombs through our VR viewer and we had also a talk: lots of…
We are pleased to announce that the ROVINA project has received two out of three available awards at the DigitalHeritage 2015 Expo: the Technical Proficiency Award and the People Choice…
The paper "NICP: Dense normal based point cloud registration" has been published (IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS))
Abstract: In this paper we present a novel on-line…
The paper "Predictive Exploration Considering Previously Mapped Environments" has been published ( IEEE Int. Conf. on Robotics \& Automation (ICRA))
Abstract: The ability to explore an unknown environment is an…
The software release "C++ IMU-TK Library" can be downloaded.
The C++ IMU-TK Library (Inertial Measurement Units ToolKit) provides simple functions and data structures to calibrate MEMS-based inertial navigation units, and…
The software release "EasyDepthCalibration - a C++ ros package to reduce barrel distortion on depth sensors" can be downloaded.
Easy Depth calibration is a complete software package for calibrating any…
The software release "Normal Iterative Closest Point (NICP) C++ Library" can be downloaded.
This software provides useful tools to align point cloud data generated from either depth cameras or 3D…
The paper "A New Approach to Digitalization and Data Management of Cultural Heritage Sites" has been published (International Congress on Digital Heritage - Theme 1 - Digitization And Acquisition. IEEE)…
The paper "A Gaussian process latent variable model for BRDF inference" has been published (International conference on Computer Vision, ICCV)
Abstract: The problem of estimating a full BRDF from partial…
The software release "g2o " can be downloaded.
New release of g2o integrating hierarchical optimization and dynamic covariance scaling
The paper "Tackling Shapes and BRDFs Head-on" has been published (International Conference on 3D Vision (3DV))
Abstract: In this work, we investigate the use of simple flashbased photography to capture…
The ROVINA project was presented live on the Italian national TV. For those of you who missed it, here comes the link to the online version.
The paper "Robots for the digitisation of hard-to-access cultural heritage sites." has been published (Proc. of the Workshop on Artificial Intelligence for Cultural Heritage)
Abstract: In this paper we provide…
The software release "Range Data Streaming using H.264" can be downloaded.
This software provides the tools needed to reproduce the results described in the paper "Effective Compression of Range Data…
The paper "A user perspective on the ROVINA project" has been published (Proc. of the 18th ICOMOS General Assembly and Scientific Symposium “Heritage and Landscape as
Human Values” )
Abstract:…
We are proud to announce that the ROVINA project has been awarded the "Maker of Merit" award at the Maker Faire Rome - The European Edition. The event was a…
ROVINA stars on the Italian national TV! If you missed the report when it aired, follow the link to the recording on the RAI news website.
Forbes claims that the ROVINA project is better than Indiana Jones. Learn why by reading the great article by Federico Guerrini.
The paper "Merging partially consistent maps" has been published (4th International Conference on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR))
Abstract: Learning maps from sensor data has been addressed…
The paper "Using Augmented Measurements to Improve the Convergence of ICP" has been published (4th International Conference on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR))
Abstract: Point cloud registration…
The paper "Robots for the digitisation of hard-to-access cultural heritage sites." has been published (Proc. of the 2nd International Conference RICH 2014 - Robotics: Innovation for Cultural Heritage, 2014.)
Abstract:…
The paper "Effective Compression of Range Data Streams for Remote Robot Operations using H.264" has been published (IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS))
Abstract: Most robots need…
We are happy to announce that ROVINA will be at the European Makerfaire in Rome, October 3-5 2014. Attend our talk on Friday at 4:30pm, room WS12, or visit our…
The paper "Calibration and performance evaluation of low-cost IMUs" has been published (Proc. of the 20th IMEKO TC4 International Symposium, pages 429 - 434)
Abstract: IMUs (Inertial Measurement Units) are…
The paper "See the Surface. Imaging and measuring surface characteristics of medieval library materials by photometric stereo" has been published (Arts Digital Humanities Summer School,
Location: Leuven)
Abstract: The…
The paper "Robust Visual Robot Localization Across Seasons using Network Flows." has been published (In Proc. of the Conf. on the Association for the Advancement of Artificial Intelligence (AAAI) Quebec,…
The paper "Dense 3D Semantic Mapping of Indoor Scenes from RGB-D Images" by ROVINA consortium members Alexander Hermans, Georgios Floros and Bastian Leibe won the ICRA 2014 Best Vision Paper…
The paper "Unsupervised Intrinsic and Extrinsic Calibration of a Camera-Depth Sensor Couple" has been published (In Proc. of the IEEE International Conference on Robotics and Automation (ICRA))
Abstract: The availability…
The paper "A Robust and Easy to Implement Method for IMU Calibration without External Equipments" has been published (In Proc. of the IEEE International Conference on Robotics and Automation (ICRA))…
The paper "Dense 3D Semantic Mapping of Indoor Scenes from RGB-D Images" has been published (In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), *ICRA'14 Best Vision…
The paper "A Statistical Measure for Map Consistency in SLAM" has been published (In Proc. of the IEEE International Conference on Robotics and Automation (ICRA))
Abstract: Map consistency is an…
The paper "Experimental Analysis of Dynamic Covariance Scaling for Robust Map Optimization Under Bad Initial Estimates" has been published (In Proc. of the IEEE International Conference on Robotics and Automation…
The paper "Helmert's and Bowie's Geodetic Mapping Methods and Their Relation to Graph-Based SLAM." has been published (In Proc. of the IEEE International Conference on Robotics and Automation (ICRA))
Abstract:…
The paper "Reconstruction of Rigid Body Models from Motion Distorted Laser Range Data Using Optical Flow" has been published (In Proc. of the IEEE International Conference on Robotics and Automation…
Some pictures of the first stable prototype of the ROVINA robot as presented during the first review meeting.
In this video we show an early prototype of the ROVINA robotic platform climbing stairs during the first integration week in Freiburg.
The paper "A Survey of Geodetic Approaches to Mapping and the Relationship to Graph-Based SLAM" has been published (IEEE Robotics & Automation Magazine)
Abstract: The ability to simultaneously localize a…
Rovina will be presented the 16-th of December at the iHistory workshop on "New perspectives and methods of historical research: relations between nations, cultures and religions through new technologies". The…
The paper "Multi-Robot SLAM using Condensed Measurements" has been published (In Proc. of Int. Conf. on Intellogent Robots and Systems (IROS))
Abstract: In this paper we describe a Simultaneous Localization…
The paper "Exploration and Mapping of Catacombs with Mobile Robots" has been published (In Proc. for the IEEE International Symposium on Safety Security and Rescue Robotics (SSRR 2013))
Abstract: This…
The paper "Efficient Traversability Analysis for Mobile Robots using the Kinect Sensor" has been published (In Proc. of the European Conference on Mobile Robots (ECMR), Barcelona, Spain)
Abstract: For autonomous…
A first set of datasets containing odometry, imu, laser, and Kinect data has been recorded and now published by the consortum. See the menu item research -> datasets.
The dataset "s_priscilla_2013-02-14-11-58-22.bag " has been released.
S. Priscilla ROS bag
The dataset "s_priscilla_2013-02-13-13-21-32.bag " has been released.
S Priscilla ROS Bag
The dataset "s_priscilla_2013-02-13-15-47-55.bag " has been released.
S. Priscilla ROS bag
The dataset "s_priscilla_2013-02-14_g2o.tgz " has been released.
S. Priscilla Stripped RGBD images and g2o Files
The dataset "s_priscilla_2013-02-14-12-13-21.bag " has been released.
Ros Bag File of S.Priscilla
The dataset " s_priscilla_2013-02-14-14-45-01.bag " has been released.
S. Priscilla Ros Bag
The dataset "s_priscilla_2013-02-14-11-42-08.bag " has been released.
S. Priscilla ROS bag
Our joint paper of ALU-FR and UNIROMA1 on "Efficient Traversability Analysis for Mobile Robots using the Kinect Sensor" by Igor Bogoslavskyi, Olga Vysotska, Jacopo Serafin, Giorgio Grisetti, and Cyrill Stachniss…
The paper "Deploying Artificial Landmarks to Foster Data Association in Simultaneous Localization and Mapping" has been published (In Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA))
Abstract:…
The paper "Dynamic Covariance Scaling for Robust Robotic Mapping" has been published (In ICRA Workshop on robust and Multimodal Inference in Factor Graphs)
Abstract: Developing the perfect SLAM front-end that…
Here are some snapshots from our preliminary sensor analysis in a Catacombs like environment, that include simulations of the RE05 Lidar and of the Asus Xtion.
A robust map optimization approach based on dynamic covariance scaling has been developed an published. Here an example video that illustrates optimization under data association outliers.
First developments of the Kinect-based traversability analysis show promising results in the first catacomb mapping run (green=traversable; red=non-traversable; yellow=too uncertain).
The paper "Robust Map Optimization Using Dynamic Covariance Scaling" has been published (In Proc. of the IEEE International Conference on Robotics and Automation (ICRA))
Abstract: Developing the perfect SLAM front-end…
We are designing our robotic platform with the open source tool Blender. Here you can find some snapshots of the rendered models. We will release the .blend file containing…
We had a successful Kick-off meeting in Rome. Thanks to the University of Rome for the great meeting.
Today we used the robot of our laboratory to collect the first test dataset in the S. Priscilla catacombs in Rome.
The paper "OctoMap: An Efficient Probabilistic 3D Mapping Framework Based on Octrees" has been published (Autonomous Robots, DOI: 10.1007/s10514-012-9321-0)
Abstract: Three-dimensional models provide a volumetric representation of space which is…
The paper "Digitization of Inaccessible Archeological Sites with Autonomous Mobile Robots" has been published (In Proc. of the Conference on Robotics Innovation for Cultural Heritage)
Abstract: The conservation of archeological…