Italy's Invisible Cities (BBC1, 9pm)

FOLLOWING the revelations uncovered in Rome’s Invisible City, Alexander Armstrong and Dr Michael Scott hit the road again for a new adventure. This time, they’re travelling through three of Italy’s most fascinating cities – Naples, Venice and Florence – to bring a fresh perspective to 2,000 years of history.

Utilising an arsenal of cutting-edge technology, including ultra-high definition 3D scans, underwater LiDAR, photo-real CGI and drone cameras, Alexander and Michael discover Italy’s hidden past in new vivid detail.

In this first episode, they seek to expose the buried treasures contained in one of the world’s oldest cities – Naples. Starting in the city centre, the pair delve into a series of underground tunnels, constructed by ruling Bourbon kings in the 19th Century. These tunnels link historic quarries and Roman aqueducts, interacting with the modern city above in surprising ways – including the intrusion of an abandoned metro line. To make sense of how these concealed spaces fit into the history of the city, Alexander visits the scanning team. Using the latest technologies, the scanning team is creating a new virtual model of the 250 kilometres expanse of the Bay of Naples – one of the most comprehensive 3D maps of Naples ever produced.

After a quick stop for a traditional Neopolitan pizza, the presenters head to Mount Vesuvius and neighbouring Herculaneum, digging deeper into why volcanic stone is the bedrock of Naples. Meeting Professor Andrew Wallace, the duo learns about an underground theatre buried after the eruption of Vesuvius, rediscovered when Roman statues began surfacing in one of the town’s wells. Turning to the scanning team again, Michael and Alexander gain a greater understanding of the hidden theatre, by revealing a detailed picture of the underground auditorium and surrounding buried village.

Next they not only head underground, but underwater – in Baiae’s sunken harbour, Portus Julius. Michael completes a dive to view a perfectly preserved mosaic floor among the ruins of submerged Roman holiday homes. The scanning team also undertakes the most ambitious stage of their mission – scanning beneath Baiae’s waves to turn this watery wonder into a virtual reality experience.

Midsomer Murders (ITV, 8pm)

ANGUS, a member of the Bleakridge Watch, a group of villagers who walk the streets reporting anyone who falls foul of the law, is found dead in his meat freezer. Barnaby and Winter meet Angus' devastated sister and her daughter and learn that Angus was investigating a recent spate of burglaries in the village, but had yet to identify the culprit. Angus' post-mortem reveals strange restraining injuries on his wrists and the plot thickens as Barnaby discovers just how far some people will go for power. Barnaby and Winter find another Watch member, Azeem, bludgeoned to death and are perplexed to spot similar restraining marks. Winter discovers a stash of stolen goods hidden in Azeem's shop.

No Offence (C4, 9pm)

NEW series. DI Viv Deering returns to work after a few months off, and finds herself banging heads with a new boss – not to mention a powerful crime matriarch. Things kicks off at the funeral of a notorious local gangster's son, where the officers realise tensions could easily bubble over into a gangland war. Meanwhile, Joy and Tegan team up with the dodgy crematorium owners to piece together another case. Paul Abbott's crime comedy drama, starring Joanna Scanlan, Elaine Cassidy, Alexandra Roach, and new cast members Sarah Solemani and Rakie Ayola.

James May: The Reassembler (BBC4, 9pm)

THE Kenwood Chef is an iconic food mixer developed by entrepreneur and business man Ken Wood. Based on the earlier A200, and introduced in 1950, it is a single machine with a number of attachments that allow it to perform many functions. The Chef was an instant success in the UK. It revolutionised cooking and saved time for millions of people, so much so that it is still Kenwood's top seller today. Tonight The Grand Tour co-host reassembles the 135 parts that make up a701a model of the food mixer.

Viv Hardwick