A SLAM Integrated Approach for Digital Heritage Documentation

The digital acquisition of Cultural Heritage is a complex process, highly depending on the nature of the object as well as the purpose of its detection. Even if there are different survey techniques and sensors that allow the generation of realistic 3D models, defined by a good metric quality and a detail consistent with the geometric characteristics of the object, an interesting goal could be to develop a unified treatment of the methodologies. Villa Rufolo, with its intricate articulation, becomes the benchmark to test an integrated protocol between photogrammetry, Terrestrial Laser Scanning (TLS) and a Wearable Mobile Laser System (WMLS) based on a SLAM approach. To quantify the accuracy of the latter solution, a comparison is proposed. For the case study the ZEB1, produced and marketed by GeoSLAM, is tested. Computations of cloud-to-cloud (C2C) absolute distances is performed, using stationary laser scanner (Faro Focus3D X130) as a reference. Finally, the obtained results are reported, allowing us to assert that the quality of the WMLS measurements is compatible with the data provided by the manufacturer, thus making the instrumentation suitable for certain specific applications.