Salvatore Troisi

Parthenope University of Naples | Università Parthenope · Department of Science and Technology

The recent developments in automated image processing for 3D reconstruction purposes have led to the diffusion of low-cost and open-source solutions which can be nowadays used by everyone to produce 3D models. The level of automation is so high that many solutions are black-boxes with poor repeatability and low reliability. The article presents an...

Campi Flegrei is one of the widest and most dangerous active volcanic complexes in the Mediterranean basin, known to be affected by continuous and sudden vertical ground movements (bradyseismic crisis) that have characterized the post-calderic volcanic activity since the Late Pleistocene and particularly during the Roman period. Despite the intense...

Campi Flegrei, located within the Gulf of Pozzuoli (SW Italy), is one of the most active volcanic districts of the Mediterranean basin and is characterized by sudden vertical ground movements that have locally exacerbated the glacial-hydro-isostatic sea-level rise since the late Pleistocene. In this research, a geoarchaeological study of the coasta...

p class="Abstract"> Archaeological remains need to be geometrically surveyed and set in absolute reference systems in order to allow a "virtual visit" and to create "digital twins" useful in case of deterioration for proper restoration. Some countries (e.g., Peru) have a vast archaeological heritage whose survey requires optimized procedures that a...

The use of Attitude and Heading Reference Systems (AHRS) for orientation estimation is now common practice in a wide range of applications, e.g., robotics and human motion tracking, aerial vehicles and aerospace, gaming and virtual reality, indoor pedestrian navigation and maritime navigation. The integration of the high-rate measurements can provi...

The use of Attitude and Heading Reference Systems (AHRS) for orientation estimation is now common practice in a wide range of applications, e.g., robotics and human motion tracking, aerial vehicles and aerospace, gaming and virtual reality, indoor pedestrian navigation and maritime navigation. The integration of the high-rate measurements can provi...

Caves are one of the most conservative environments on Earth, where archaeological, anthropological, climatic and tectonic data can be well-preserved. Here, we present the results of a multidisciplinary method that allowed us to recognize, for the first time in this area, the interaction between Late Pleistocene to Anthropocene neotectonic and arch...

One of the main issues for the navigation of underwater robots consists in accurate vehicle positioning, which heavily depends on the orientation estimation phase. The systems employed to this end are affected by different noise typologies, mainly related to the sensors and to the irregular noise of the underwater environment. Filtering algorithms...

A sustainable and effective monitoring of the environment is necessary to assess its current status. In particular, marine ecosystems are more and more subjected to external inputs and pollutants in general, which may considerably affect their biodiversity and the regularity of their processes, with consequences on the global system. Autonomous Und...

One of the main issues for underwater robots navigation is represented by the accurate vehicle positioning, which heavily depends on the orientation estimation phase. The systems employed to this scope are affected by different noise typologies, mainly related to the sensors and to the irregular noise of the underwater environment. Filtering algori...

A large part of the archaeological remains still to be discovered and excavated are not in remote and depopulated areas of the earth but are often beneath urban centres that have buried them with centuries of debris and later constructions. Excavating in these contexts is much more complex than digging in rural or sparsely inhabited areas because o...

One of the main issues for underwater robots navigation is their accurate positioning, which heavily depends on the orientation estimation phase. The systems employed to this scope are affected by different noise typologies, mainly related to the sensors and to the irregular noise of the underwater environment. Filtering algorithms can reduce their...

The survey of archaeological monuments presents particular needs and difficulties. Such surveys must in fact be as complete, geometrically correct and accurately geo-referenced as possible. These needs, however, often face problems of difficult accessibility, the need for rapid timing and complex logistical conditions. The latest generation of mobi...

The increasingly use of Autonomous Underwater Vehicles (AUVs) in several context led to a rapid development and enhancement of their technologies, allowing the automatization of many tasks. One of the most challenging tasks of AUVs still remains their robust positioning and navigation, since classical global positioning techniques are generally not...

Caves have been used by humans and animals for several thousand years until present but, at these time scales, their structures can rapidly change due to erosion and concretion processes. For this reason, the availability of precise 3D models improves the data quality and quantity allowing the reconstruction of their ancient appearance, structure a...

This research aims at the 3D reconstruction of a Roman fish tank (piscina) located inside the archaeological area of Portus Julius (Gulf of Pozzuoli, Naples) and it is part of a wider research finalized to reconstruct the amount of the vertical ground movements (VGM) occurred during historical times in the Gulf of Pozzuoli. The ancient piscina is r...

In the geomatics field, modelling and georeferencing complex speleological structures are some of the most challenging issues. The use of conventional survey methods (for example, those employing total stations or terrestrial laser scanner) becomes more difficult, especially because of the space constraints and the often critical light conditions....

This research aims to evaluate the amount of vertical ground movements during Roman times inside the archaeological area of Portus Julius (Gulf of Pozzuoli) using high-precision surveys on the most reliable archaeological sea-level markers. Measuring the submersion of ancient floors, structural elements belonging to a former fish tank, and several...

This book constitutes the refereed proceedings of the First International Workshop in memory of Prof. Raffaele Santamaria on R3 in Geomatics: Research, Results and Review, R3GEO 2019, held in Naples, Italy*, in October 2019. The 27 full papers along with the 2 short papers presented were carefully reviewed and selected from 39 submissions. The pape...

Soil erosion is one of the main factors responsible for land degradation in nature. Its quantification in field conditions is very difficult. Here we present the development of a simple, sensitive and inexpensive field method for the quantification of soil loss. The goal is to produce high precision digital elevation models (DEMs) of the soil surfa...

Sometimes, the georeferencing of a cave in the global reference system can be challenging. Some difficulties may arise when narrow passages do not allow the use of classical topographic equipment or a terrestrial laser scanner. In these specific cases, the surveyor can employ a visual-based approach to produce both the followed path and the 3D mode...

Aids to Navigation (AtoN) are auxiliary devices intended to support maritime navigation. They include both traditional signals (e.g., buoys and lights) and electronic aids, as for example those transmitted to ships through automatic tracking systems. In both cases, international organizations together with local authorities define technical specifi...

The survey of ancient cave can generally be performed by traditional topographic methods that allow also its georeferencing in a global reference frame; some difficulties may arise when there are narrow tunnels that do not consent the use of a total station or a terrestrial laser scanner. In such cases a visual-based approach can be used to produce...

This paper shows an interesting case of coastal landscape reconstruction by using innovative marine robotic instrumentation, applied to an archaeological key-site in the Campi Flegrei (Italy), one of the more inhabited areas in the Mediterranean during the Roman period. This active volcanic area is world famous for the ancient coastal cities of Bai...

The aim of this paper was to implement an integrated method for high-resolution surveys by using a robotics technology. In order to reconstruct underwater landscapes of high cultural value, geophysical and photogrammetric sensors were integrated on-board of an USV allowing a precise mapping of the seabed morphology as well as a detailed three-dimen...

An autonomous vision-based landing system was designed and its performance is analysed and measured by an UAS. The system equipment is based on a single camera to determine its position and attitude with respect to a well-defined landing pattern. The developed procedure is based on photogrammetric Space Resection Solution, which provides the positi...

p class="Abstract">In GNSS context, absolute positioning is a widespread operational mode, largely used in many field activities as automotive, aerospace and ships navigation. The functional model of absolute positioning, relating pseudorange measurements to unknowns, is well defined, while its stochastic model, defining the behavior of measurement...

Using images to determine camera position and attitude is a consolidated method, very widespread for application like UAV navigation. In harsh environment, where GNSS could be degraded or denied, image-based positioning could represent a possible candidate for an integrated or alternative system. In this paper, such method is investigated using a s...

— In the last few years, Precise Point Positioning (PPP) has become widespread as a standalone positioning technique. Unlike classical GNSS point positioning, which uses the pseudorange observables from four or more visible satellites and the broadcast ephemeris to obtain the user instantaneous position, PPP takes the advantage of the more precise...

In the maritime field, one of the most sensitive information is the vessel attitude, because in several scenarios it could compromise the safety of the ship. Gyrocompasses provide the yaw angle with high accuracy, while the roll and pitch angles are directly measured by traditional sensor such as the classical inclinometers. In maritime dynamic pos...

Nowadays, the increasing computation power of commercial grade processors has actively led to a vast spreading of image-based reconstruction software as well as its application in different disciplines. As a result, new frontiers regarding the use of photogrammetry in a vast range of investigation activities are being explored. This paper investiga...

Satellite navigation is very widespread in civil society; many devices and services exploit this technology and several systems are in use or in development phase. GNSS receiver, embedded in devices used in daily life (smartphones, cars and so on), works in several conditions and operational scenarios. Ensuring good positioning accuracy is challeng...

A photogrammetric survey of a unique archaeological site is reported in this paper. The survey was performed using both a panoramic image-based solution and by classical procedure. The panoramic image-based solution was carried out employing a commercial solution: the Trimble V10 Imaging Rover (IR). Such instrument is an integrated cameras system t...

Actually complex underground structures and facilities occupy a wide space in our cities, most of them are often unsurveyed; cable duct, drainage system are not exception. Furthermore, several inspection operations are performed in critical air condition, that do not allow or make more difficult a conventional survey. In this scenario a prompt meth...

A lively debate has developed regarding the characteristics of the so-called Horologium Augusti, at first known only through a notice in Pliny and subsequently discovered (at least partly) during the course of excavations begun in 1997 (Leonhardt, in: The Horologium of Augustus: debate and context, 2014). The gnomon of the “Horologium” was composed...

Satellite ephemeris TLE ephemeris contains the mean Keplerian orbital elements of the space object. The SGP4 propagator computes the position and velocity of the spacecraft in discrete time intervals with an accuracy of the km-level*. The SGP4 reference system is the True-Equator Mean-Equinox (TEME) which has to be converted in GALILEO Terrestrial...

The ionosphere is one of the main error sources for single-frequency Global Navigation Satellite System (GNSS) measurements in open-sky scenario. Most widespread GNSS devices are single frequency stand-alone receivers and they can use different Ionospheric Correction Algorithms (ICA) in order to reduce the ionospheric error. In this work two ICA mo...

GNSS (Global Navigation Satellite Systems)-based navigation is not sufficient to support air navigation in specific applications; so it is necessary to introduce Augmentation Systems. Since 1993, the civil aviation community through RTCA (Radio Technical Commission for Aeronautics) and the ICAO (International Civil Air Navigation Organization) have...

a a 3D Optical Metrology (3DOM) unit, Bruno Kessler Foundation (FBK), Trento, Italy-(fmenna, nocerino, remondino)@fbk.eu, Web: http://3dom.fbk.eu ABSTRACT: The surveying and 3D modelling of objects that extend both below and above the water level, such as ships, harbour structures, offshore platforms, are still an open issue. Commonly, a combined a...

In marine biology the shape, morphology, texture and dimensions of the shells and organisms like sponges and gorgonians are very important parameters. For example, a particular type of gorgonian grows every year only few millimeters; this estimation was conducted without any measurement instrument but it has been provided after successive observati...

Classically, a stand-alone GNSS receiver estimates its velocity by forming the approximate derivative of consecutive user positions or more often by using the Doppler observable. The first method is very inaccurate, while the second one allows estimation of the order of some cm/s. The time-differenced carrier phase (TDCP) technique, which consists...

In global navigation satellite systems (GNSS) navigation the receiver and satellite clocks play a key role. The receivers are usually equipped with inaccurate quartz clocks, which experiment large drift relative to system time and consequently offset growing very fast; receiver manufactures bound the magnitude of the receiver clock offset to preven...

Satellite navigation is critical in signal-degraded environments where signals are corrupted and GNSS systems do not guarantee an accurate and continuous positioning. In particular measurements in urban scenario are strongly affected by gross errors, degrading navigation solution; hence a quality check on the measurements, defined as RAIM, is i...

In guidance and automated control system, especially for unmanned vehicle, attitude determination is an important element. Generally this parameter is provided by sensors like INS (Inertial Navigation Systems), but it can be also estimated with a single camera that “looks” the horizon. This work presents the project of an embedded solution that use...

PVT accuracy, in GNSS-based navigation, depends on various factors such as the quality of the measurements and the broadcast navigation data. GNSS broadcast signals (in L-band) are strongly influenced by the atmospheric layers. In particular ionospheric effects are the most important in open-sky. The ionosphere effect can be reduced using linear co...

The GNSS measurements are strongly affected by ionospheric effects, due to the signal propagation through ionosphere; these effects could severely degrade the position; hence, a model to limit or remove the ionospheric error is necessary. The use of several techniques (DGPS, SBAS, and GBAS) reduces the ionospheric effect, but implies the use of exp...

The article reports the development of an off-line low-cost videogrammetric system for measuring six degrees of freedom (6DOF) of scaled models in ship model basin. Sub-millimeter accuracy is required to measure the floating rigid body movements. To meet this requirement, in depth analyses, exposed in this paper, are performed to choose the most ap...

The article presents an innovative methodology for the 3D surveying and modeling of floating and semi-submerged objects. Photogrammetry is used for surveying both the underwater and emerged parts of the object and the two surveys are combined together by means of special rigid orientation devices. The proposed methodology is firstly applied to a sm...

GNSS surveys performed in critical environments (e.g. the urban canyons, mountainous or dense vegetation area) usually suffer for satellites lack due to obstacle such as building and vegetation. A GNSS mission planning software allows to estimate satellite visibility and DOP (Dilution Of Precision) values along a planned trajectory in order to esta...

The GNSS measurements are strongly affected by ionospheric effects, due to the signal propagation through ionosphere; these effects could severely degrade the position; hence, a model to limit or remove the ionospheric error is necessary. The use of several techniques (DGPS, SBAS, and GBAS) reduces the ionospheric effect, but implies the use of exp...

In this work we introduce an algorithm to approximate the external shape of an irregular polyline containing some cycles and interlacements. The output consists of a counterclockwise closed walk still containing only some cycles that, with the addition of one more step, can be “opened” in a suitable way to produce a Hamiltonian circuit. Moreover, t...

The study of human equilibrium, also known as postural stability, concerns different research sectors (medicine, kinesiology, biomechanics, robotics, sport) and is usually performed employing motion analysis techniques for recording human movements and posture. A wide range of techniques and methodologies has been developed, but the choice of instr...

The modeling and the three-dimensional reconstruction of objects, structures or sites of interest assume an important role in the field of cultural heritage. Making copies of virtual objects is very significant for their consultation, storage, disclosure and restoration. Nowadays the modeling of a free-form object can be attained both by laser-scan...