A Comparative Study of Indoor Accuracies Between SLAM and Static Scanners

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21110%2F25%3A00384662" target="_blank" >RIV/68407700:21110/25:00384662 - isvavai.cz</a>

Result on the web

<a href="https://doi.org/10.3390/app15148053" target="_blank" >https://doi.org/10.3390/app15148053</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.3390/app15148053" target="_blank" >10.3390/app15148053</a>

Result language

angličtina

Original language name

A Comparative Study of Indoor Accuracies Between SLAM and Static Scanners

Original language description

This study presents a comprehensive comparison of static and SLAM (Simultaneous Localization and Mapping) laser scanners of both new and old generation in a controlled indoor environment of a standard commercial building with long, linear corridors and recesses. The aim was to assess both global and local accuracy, as well as noise characteristics, of each scanner. Methods: A highly accurate static scanner was used to generate a reference point cloud. Five devices were evaluated: two static scanners (Leica RTC 360 and Trimble X7) and three SLAM scanners (GeoSLAM ZEB Horizon RT, Emesent Hovermap ST-X, and FARO Orbis). Accuracy analysis included systematic and random error assessment, axis-specific displacement evaluation, and profile-based local accuracy measurements. Additionally, noise was quantified before and after data smoothing. Static scanners yielded superior accuracies, with the Leica RTC 360 achieving the best performance (absolute accuracy of 1.2 mm). Among SLAM systems, the Emesent Hovermap ST-X and FARO Orbis-both newer-generation devices-demonstrated significant improvements over the older-generation GeoSLAM ZEB Horizon RT. After smoothing, the noise levels of these new-generation SLAM scanners (approx. 2.1-2.2 mm) approached those of static systems. The findings underline the ongoing technological progress in SLAM systems, with the new-generation SLAM scanners becoming increasingly viable alternatives to static scanners, especially when speed, ease of use, and reduced occlusions are prioritized. This makes them well-suited for rapid indoor mapping applications, provided that the slightly lower accuracy is acceptable for the intended use.

Czech name

—

Czech description

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Type

J_imp - Article in a specialist periodical, which is included in the Web of Science database

CEP classification

—

OECD FORD branch

20101 - Civil engineering

Project

Result was created during the realization of more than one project. More information in the Projects tab.

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2025

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

Applied Sciences

ISSN

2076-3417

e-ISSN

2076-3417

Volume of the periodical

15

Issue of the periodical within the volume

14

Country of publishing house

CH - SWITZERLAND

Number of pages

24

Pages from-to

1-24

UT code for WoS article

001549332100001

EID of the result in the Scopus database

2-s2.0-105011688250