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Article

The Combined Use of SLAM Laser Scanning and TLS for the 3D Indoor Mapping

1
Department of Built Environment, School of Engineering, Aalto University, P.O. Box 14100, 00076 Aalto, Finland
2
Finnish Geospatial Research Institute FGI, Geodeetinrinne 2, 02430 Masala, Finland
*
Author to whom correspondence should be addressed.
Academic Editor: Emanuele Brunesi
Buildings 2021, 11(9), 386; https://doi.org/10.3390/buildings11090386
Received: 1 July 2021 / Revised: 17 August 2021 / Accepted: 24 August 2021 / Published: 28 August 2021
(This article belongs to the Section Construction Management, and Computers & Digitization)
An efficient 3D survey of a complex indoor environment remains a challenging task, especially if the accuracy requirements for the geometric data are high for instance in building information modeling (BIM) or construction. The registration of non-overlapping terrestrial laser scanning (TLS) point clouds is laborious. We propose a novel indoor mapping strategy that uses a simultaneous localization and mapping (SLAM) laser scanner (LS) to support the building-scale registration of non-overlapping TLS point clouds in order to reconstruct comprehensive building floor/3D maps. This strategy improves efficiency since it allows georeferenced TLS data to only be collected from those parts of the building that require such accuracy. The rest of the building is measured with SLAM LS accuracy. Based on the results of the case study, the introduced method can locate non-overlapping TLS point clouds with an accuracy of 18–51 mm using target sphere comparison. View Full-Text
Keywords: simultaneous localization and mapping (SLAM) 1; non-overlap 2; terrestrial laser scanning (TLS) 3; point clouds 4; 3D mapping 5 simultaneous localization and mapping (SLAM) 1; non-overlap 2; terrestrial laser scanning (TLS) 3; point clouds 4; 3D mapping 5
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MDPI and ACS Style

Keitaanniemi, A.; Virtanen, J.-P.; Rönnholm, P.; Kukko, A.; Rantanen, T.; Vaaja, M.T. The Combined Use of SLAM Laser Scanning and TLS for the 3D Indoor Mapping. Buildings 2021, 11, 386. https://doi.org/10.3390/buildings11090386

AMA Style

Keitaanniemi A, Virtanen J-P, Rönnholm P, Kukko A, Rantanen T, Vaaja MT. The Combined Use of SLAM Laser Scanning and TLS for the 3D Indoor Mapping. Buildings. 2021; 11(9):386. https://doi.org/10.3390/buildings11090386

Chicago/Turabian Style

Keitaanniemi, Aino, Juho-Pekka Virtanen, Petri Rönnholm, Antero Kukko, Toni Rantanen, and Matti T. Vaaja. 2021. "The Combined Use of SLAM Laser Scanning and TLS for the 3D Indoor Mapping" Buildings 11, no. 9: 386. https://doi.org/10.3390/buildings11090386

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