Saliency-guided integration of multiple scans

we present a novel method..

Robots for Exploration, Digital Preservation and Visualization of Archeological Sites

Monitoring and conservation of archaeological sites are important activities necessary to prevent damage or to perform restoration on cultural heritage. Standard techniques, like mapping and digitizing, are typically used to document the status of such sites. While these task are normally accomplished manually by humans, this is not possible when dealing with hard-to-access areas. For example, due to the possibility of structural collapses, underground tunnels like catacombs are considered highly unstable environments. Moreover, they are full of radioactive gas radon that limits the presence of people only for few minutes. The progress recently made in the artificial intelligence and robotics field opened new possibilities for mobile robots to be used in locations where humans are not allowed to enter. The ROVINA project aims at developing autonomous mobile robots to make faster, cheaper and safer the monitoring of archaeological sites. ROVINA will be evaluated on the catacombs of Priscilla (in Rome) and S. Gennaro (in Naples)

On the speed of constraint propagation and the time complexity of arc consistency testing

Establishing arc consistency on two relational structures is one of the most popular heuristics for the constraint satisfaction problem. We aim at determining the time complexity of arc consistency testing. The input structures $G$ and $H$ can be supposed to be connected colored graphs, as the general problem reduces to this particular case. We first observe the upper bound $O(e(G)v(H)+v(G)e(H))$, which implies the bound $O(e(G)e(H))$ in terms of the number of edges and the bound $O((v(G)+v(H))^3)$ in terms of the number of vertices. We then show that both bounds are tight up to a constant factor as long as an arc consistency algorithm is based on constraint propagation (like any algorithm currently known). Our argument for the lower bounds is based on examples of slow constraint propagation. We measure the speed of constraint propagation observed on a pair $G,H$ by the size of a proof, in a natural combinatorial proof system, that Spoiler wins the existential 2-pebble game on $G,H$. The proof size is bounded from below by the game length $D(G,H)$, and a crucial ingredient of our analysis is the existence of $G,H$ with $D(G,H)=\Omega(v(G)v(H))$. We find one such example among old benchmark instances for the arc consistency problem and also suggest a new, different construction.Comment: 19 pages, 5 figure

Maintaining Arc Consistency with Multiple Residues

International audienceExploiting residual supports (or residues) has proved to be one of the most cost-effective approaches for Maintaining Arc Consistency during search (MAC). While MAC based on optimal AC algorithm may have better theoretical time complexity in some cases, in practice the overhead for maintaining required data structure during search outweighs the benefit, not to mention themore complicated implementation. Implementing MAC with residues, on the other hand, is trivial. In this paper we extend previous work on residues and investigate the use of multiple residues during search. We first give a theoretical analysis of residue-based algorithms that explains their good practical performance. We then propose several heuristics on how to deal with multiple residues. Finally, our empirical study shows that with a proper and limited number of residues, many constraint checks can be saved. When the constraint check is expensive or a problem is hard, the multiple residues approach is competitive in both the number of constraint checks and cpu time