In unstructured urban canals, regulation-aware interactions with other vessels are essential for collision avoidance and social compliance. In this paper, we propose a regulations aware motion planning framework for Autonomous Surface Vessels (ASVs) that accounts for dynamic and static obstacles. Our method builds upon local model predictive contouring control (LMPCC) to generate motion plans satisfying kino-dynamic and collision constraints in real-time while including regulation awareness. To incorporate regulations in the planning stage, we propose a cost function encouraging compliance with rules describing interactions with other vessels similar to COLlision avoidance REGulations at sea (COLREGs). These regulations are essential to make an ASV behave in a predictable and socially compliant manner with regard to other vessels. We compare the framework against baseline methods and show more effective regulation-compliant avoidance of moving obstacles with our motion planner. Additionally, we present experimental results in an outdoor environment.@en

Multimodal imaging is used by conservators and scientists to study the composition of paintings. To aid the combined analysis of these digitisations, such images must first be aligned. Rather than proposing a new domain-specific descriptor, we explore and evaluate how existing feature descriptors from related fields can improve the performance of feature-based painting digitisation registration. We benchmark these descriptors on pixel-precise, manually aligned digitisations of ''Girl with a Pearl Earring'' by Johannes Vermeer (c. 1665, Mauritshuis) and of ''18th-Century Portrait of a Woman''. As a baseline we compare against the well-established classical SIFT descriptor. We consider two recent descriptors: the handcrafted multimodal MFD descriptor, and the learned unimodal SuperPoint descriptor. Experiments show that SuperPoint starkly increases description matching accuracy by 40% for modalities with little modality-specific artefacts. Further, performing craquelure segmentation and using the MFD descriptor results in significant description matching accuracy improvements for modalities with many modalityspecific artefacts.@en