A comparative study between a static and a mobile laser scanner for the digitalization of inner spaces in historical constructions

Abstract

This paper presents a comparative study between the static laser scanner Faro Focus 120 and the wearable mobile laser system ZEB-Revo. The latter is based on the use of the SLAM (Simultaneous Location and Mapping) approach for generating the 3D point clouds, reducing the time required in-field in about 14 times but presenting some limitations such as the possible error accumulation (non-linear deformation) among others. According to this, this works will evaluate both sensors at different levels: form the data acquisition and processing to the accuracy assessment of the point clouds obtained. This assessment will be carried out by using different statistical metrics such as the relative measurement error or the relative measurement accuracy. The study case used for comparing both sensor is the convent of Nuestra Señora de Gracia in Avila, Spain, a religious complex from between the sixteenth to eighteenth century, with a variety of constructive solutions made in masonry and wood. The results are revealing that the wearable mobile system for generating as-built products, investing less time in comparison with the TLS device.