Analysis of a SLAM-Based Laser Scanner for the 3D Digitalization of Underground Heritage Structures. A Case Study in the Wineries of Baltanas (Palencia, Spain)

  1. Camiña, Javier
  2. Sánchez-Aparicio, Luis Javier 1
  3. Corrochano, Cristina Mayo
  4. Sanz-Arauz, David
  5. González-Aguilera, Diego 2
  1. 1 Universidad Politécnica de Madrid
    info

    Universidad Politécnica de Madrid

    Madrid, España

    ROR https://ror.org/03n6nwv02

  2. 2 Universidad de Salamanca
    info

    Universidad de Salamanca

    Salamanca, España

    ROR https://ror.org/02f40zc51

Book:
The Future of Heritage Science and Technologies: ICT and Digital Heritage

Publisher: Springer

ISSN: 1865-0929,  1865-0937

ISBN: 9783031203015,  9783031203022

Year of publication: 2022

Pages: 42-56

Type: Book chapter

DOI: 10.1007/978-3-031-20302-2_4 GOOGLE SCHOLAR lock_openOpen access editor

Sustainable development goals

Abstract

This paper aims at evaluating the performance of a Wearable MobileMapping Solution (SLAM-based) for the 3D digitalization of underground heritage sites. This evaluation was carried out by using as study case one of the largestwineries of the underground complex of Baltanás. For its digitalization we havetested not only the standard protocol (based on the good practices) but also a proposed protocol on which the laser head is turned 45° with respect to the direction ofadvance. As the ground truth we have used a high accuracy 3D point cloud whichwas obtained with a static laser scanner. The results, after an in-depth statisticalanalysis, demonstrate that the proposed protocol outperforms the standard one,showing better accuracies with similar acquisition and processing times. Additionally, we have tested the influence of different SLAM parameters in the final3D point cloud. The results of this work have revealed that the Wearable MobileMapping Solutions are suitable tools for the 3D digitalization of undergroundheritage sites, obtaining centimetric accuracy and reducing the time required forits data acquisition and processing, requiring just only the 8% of the time withrespect to a TLS point cloud.

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