FEASIBILITY AND ACCURACY OF AS-BUILT MODELLING FROM SLAM-BASED POINT CLOUDS: PRELIMINARY RESULTS

Abstract. Nowadays, portable Mobile Mapping Systems (MMSs) and robotic mapping platforms leveraging on Simultaneous Localization and Mapping (SLAM) methods are gaining increasing attention for architectural and construction surveying, representing an efficient solution for geometric data acquisition for scan-to-BIM purposes. However, the applicability of standard modelling workflows and the accuracy of Building Information Models (BIM) that can be obtained from SLAM-based point clouds is still an open question. In this paper, we propose a preliminary evaluation on the feasibility of extracting as-built BIM from (i) a point cloud acquired with a commercial portable MMS, and (ii) a point cloud obtained through an open-source SLAM algorithm, surveying the environment with an autonomous mobile robotic platform. In both cases, the main structural elements of the test site are accurately generated, thus showing promising results. On the other hand, the experiment highlights also the need for SLAM systems capable of providing less noisy point clouds, in order to capture and model architectural details.