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Three Dimensional (3D) models are widely used in clinical applications, geosciences, cultural heritage preservation, and engineering; this, together with new emerging needs such as building information modeling (BIM) develop new data capture techniques and devices with a low cost and reduced learning curve that allow for non-specialized users to employ it. This paper presents a simple, self-assembly device for 3D point clouds data capture with an estimated base price under €2500; furthermore, a workflow for the calculations is described that includes a Visual SLAM-photogrammetric threaded algorithm that has been implemented in C++. Another purpose of this work is to validate the proposed system in BIM working environments. To achieve it, in outdoor tests, several 3D point clouds were obtained and the coordinates of 40 points were obtained by means of this device, with data capture distances ranging between 5 to 20 m. Subsequently, those were compared to the coordinates of the same targets measured by a total station. The Euclidean average distance errors and root mean square errors (RMSEs) ranging between 12–46 mm and 8–33 mm respectively, depending on the data capture distance (5–20 m). Furthermore, the proposed system was compared with a commonly used photogrammetric methodology based on Agisoft Metashape software. The results obtained demonstrate that the proposed system satisfies (in each case) the tolerances of ‘level 1’ (51 mm) and ‘level 2’ (13 mm) for point cloud acquisition in urban design and historic documentation, according to the BIM Guide for 3D Imaging (U.S. General Services).

This paper presents an approach for 3D reconstruction of heritage scenes using a videogrammetric-based device. The system, based on two video cameras with different characteristics, uses a combination of visual simultaneous localization and mapping (SLAM) and photogrammetry technologies. VSLAM, together with a series of filtering algorithms, is used for the optimal selection of images and to guarantee that the user does not lose tracking during data acquisition in real time. The different photogrammetrically adapted tools in this device and for this type of handheld capture are explained. An evaluation of the device is carried out, including comparisons with the Faro Focus X 330 laser scanner, through three case studies in which multiple aspects are analyzed. We demonstrate that the proposed videogrammetric system is 17 times faster in capturing data than the laser scanner and that the post-processing of the system is fully automatic, but takes more time than the laser scanner in post-processing. It can also be seen that the accuracies of both systems and the generated textures are very similar. Our evaluation demonstrates the possibilities of considering the proposed system as a new professional-quality measurement instrument.

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