Comparison of TLS and SLAM technologies for 3D reconstruction of objects with different geometries

Abstract

Technological advances have made the 3D mapping process easily available and simpler. However, there are still aspects that need to be improved and enhanced. The efficient acquisition of 3D data and reconstruction of objects with high accuracy continues to be a challenge for the scientific community. One of the most frequently used 3D mapping methods is Terrestrial Laser Scanning (TLS), which allows the collection of high-resolution and precise data. Another method gaining popularity among researchers and professionals is mobile scanning technology, which enables real-time data capture. Its mobility and speed make it an effective alternative to traditional scanning technologies. This article compares two mapping technologies: SLAM (Simultaneous Localization and Mapping) and TLS taking into account the technical aspects of the instruments, processing methods, time and cost, and concluding with an assessment of the final accuracy. The geometry of several selected objects was analyzed. The resulting root mean square error (RMSE) for the compared distances on the two point clouds was 5 cm, which proves that the SLAM technology can be successfully applied for scenarios requiring centimeter-level accuracy.