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

Round 1

Reviewer 1 Report

The paper presents a strategy for the registration of non-overlapping TLS data supported by SLAM LS data. The case study demonstrating the use and detailing the 3D mapping accuracy is clearly presented. Discussion section of the paper is very detailed and summarizes well the importance of the work and the comparisons/advantages/disadvantages.

The paper can benefit from minor formatting and text editing corrections.

Please consider the following suggestions, when reviewing it:

• In the keywords: extend and include acronyms if possible, e.g., 1. Simultaneous location and mapping (SLAM)
• Line 22: replace "disadvantages" with "limitations"
• Line 24: cut "... at best."
• Line 32: replace "... in order to gain sufficient data." with "... in order to obtain sufficient data."
• Line 37: cut "much" in the sentence "... requires much extra work..."
• Line 41: Replace "When this is only made for the registration..." with "When the only purpose is the registration..."
• Lines 56, 57: Add references at the end of the sentence "While several papers mention the efficiency of SLAM..."
• Line 119: Replace with a more formal expression "We will dive more deeply into..."
• Line 131: replace "... that collected by airborne..." with "... the collected airborne..."
• Line 169: cut "huge"
• Line 170: better to write "up to 1 cm, ..."?
• Line 208: Replace the beginning with "The use of a SLAM LS has..."
• Lines 244, 245: Rephrase "The example features of hallways in Figure 3."
• Line 248: Cut "for" on "...for on the second floor..."
• Line 249: Rephrase: "The rooms of the building are on every floor...", are located?
• Line 297: cut "...and its "align" tool.", redundant

Hope these suggestions elevate the overall quality of the paper.

Author Response

Thank you for your comments.

We have executed the suggested changes and highlighted them in the manuscript:

In the keywords: extend and include acronyms if possible, e.g., 1. Simultaneous location and mapping (SLAM)

You are right. Keywords have been changed to cover the acronyms and the extended versions: “Simultaneous localization and mapping (SLAM) 1; non-overlap 2; terrestrial laser scanning (TLS) 3; point clouds 4; 3D mapping 5” (This change is not highlighted in the manuscript)

 

Line 22: replace "disadvantages" with "limitations"

Have been replaced.

 

Line 24: cut "... at best."

Removed “at best” from the sentence.

 

Line 32: replace "... in order to gain sufficient data." with "... in order to obtain sufficient data."

Have been replaced.

 

Line 37: cut "much" in the sentence "... requires much extra work..."

removed

 

Line 41: Replace "When this is only made for the registration..." with "When the only purpose is the registration..."

Have been replaced

 

Lines 56, 57: Add references at the end of the sentence "While several papers mention the efficiency of SLAM..."

References are added to the end of the sentence in lines 56-59

 

Line 119: Replace with a more formal expression "We will dive more deeply into..."

The sentence has been replaced with a more formal expression: In Section 2.3 we concentrate on the earlier literature on using SLAM LS for indoor mapping.

 

Line 131: replace "... that collected by airborne..." with "... the collected airborne..."

Have been replaced

 

Line 169: cut "huge"

removed

 

Line 170: better to write "up to 1 cm, ..."?

You are right, has been changed.

 

Line 208: Replace the beginning with "The use of a SLAM LS has..."

Have been replaced

 

Lines 244, 245: Rephrase "The example features of hallways in Figure 3."

The sentence has been rephrased: The hallways have features such as furniture as shown in Figure 3.

 

Line 248: Cut "for" on "...for on the second floor..."

removed

 

Line 249: Rephrase: "The rooms of the building are on every floor...", are located?

The sentence has been rephrased: The rooms of the building are located on every floor...

 

Line 297: cut "...and its "align" tool.", redundant

You are right. It has been removed

 

Additionally, the introduction has been slightly updated with recent references in lines 17-18.

Reviewer 2 Report

Interesting article about connecting TLS and SLAM together as one registration methodology. Can much speed up overall registration process keeping the TLS precision in places where it is necessary.

Author Response

Thank you for your comments.

We have executed the suggested changes and highlighted them in the manuscript:

In the keywords: extend and include acronyms if possible, e.g., 1. Simultaneous location and mapping (SLAM)

You are right. Keywords have been changed to cover the acronyms and the extended versions: “Simultaneous localization and mapping (SLAM) 1; non-overlap 2; terrestrial laser scanning (TLS) 3; point clouds 4; 3D mapping 5” (This change is not highlighted in the manuscript)

 

Line 22: replace "disadvantages" with "limitations"

Have been replaced.

 

Line 24: cut "... at best."

Removed “at best” from the sentence.

 

Line 32: replace "... in order to gain sufficient data." with "... in order to obtain sufficient data."

Have been replaced.

 

Line 37: cut "much" in the sentence "... requires much extra work..."

removed

 

Line 41: Replace "When this is only made for the registration..." with "When the only purpose is the registration..."

Have been replaced

 

Lines 56, 57: Add references at the end of the sentence "While several papers mention the efficiency of SLAM..."

References are added to the end of the sentence in lines 56-59

 

Line 119: Replace with a more formal expression "We will dive more deeply into..."

The sentence has been replaced with a more formal expression: In Section 2.3 we concentrate on the earlier literature on using SLAM LS for indoor mapping.

 

Line 131: replace "... that collected by airborne..." with "... the collected airborne..."

Have been replaced

 

Line 169: cut "huge"

removed

 

Line 170: better to write "up to 1 cm, ..."?

You are right, has been changed.

 

Line 208: Replace the beginning with "The use of a SLAM LS has..."

Have been replaced

 

Lines 244, 245: Rephrase "The example features of hallways in Figure 3."

The sentence has been rephrased: The hallways have features such as furniture as shown in Figure 3.

 

Line 248: Cut "for" on "...for on the second floor..."

removed

 

Line 249: Rephrase: "The rooms of the building are on every floor...", are located?

The sentence has been rephrased: The rooms of the building are located on every floor...

 

Line 297: cut "...and its "align" tool.", redundant

You are right. It has been removed

 

Additionally, the introduction has been slightly updated with recent references in lines 17-18.