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This paper aims to present a mosaicking method for underwater robotic applications, whose result can be provided to other perceptual systems for scene understanding such as real-time object recognition.

This method is called robust and large-scale mosaicking (ROLAMOS) and presents an efficient frame-to-frame motion estimation with outlier removal and consistency checking that maps large visual areas in high resolution. The visual mosaic of the sea-floor is created on-the-fly by a robust registration procedure that composes monocular observations and manages the computational resources. Moreover, the registration process of ROLAMOS aligns the observation to the existing mosaic.

A comprehensive set of experiments compares the performance of ROLAMOS to other similar approaches, using both data sets (publicly available) and live data obtained by a ROV operating in real scenes. The results demonstrate that ROLAMOS is adequate for mapping of sea-floor scenarios as it provides accurate information from the seabed, which is of extreme importance for autonomous robots surveying the environment that does not rely on specialized computers.

The ROLAMOS is suitable for robotic applications that require an online, robust and effective technique to reconstruct the underwater environment from only visual information.

The purpose of this paper is to discuss the role of contemporary architecture in heritage protection, reinterpretation and reuse, an issue that has become increasingly relevant due to the recognition of architectural heritage as a key factor for cultural and economic development.

In Portugal, as elsewhere in Europe, cultural heritage management has often been associated with the creation of new museum spaces, namely, within national monuments and archaeological sites. Drawing on restoration theories and international charters, this paper analyses and compares two parallel interventions recently built inside São Jorge Castle, in Lisbon: the Museum Centre (Victor Mestre and Sofia Aleixo, 2007-2008) and the Archaeological Site (João Luís Carrilho da Graça, 2008-2010). This approach offers insight on the complexity of addressing and reconfiguring the profusion of past transformations within a single monument.

These two complementary museum spaces are representative of different attitudes towards heritage appropriation, substantiating the thesis that musealizing always entails the creation of narratives, which translate history and heritage into architectural and curatorial discourses. Besides meeting the functional requirements of specific museum programmes, such interventions frequently deal with the challenge of opening up new perspectives on the past.

Considering the central role of communication in contemporary museums, this paper discusses how heritage musealization can contribute to the translation of historical evidence into updated iconographies, narratives and dialogues. Furthermore, the unique characteristics of this twofold case study can provide an insightful contribution for a broader debate on the reinterpretation of iconic monuments and sites.