A Comparative Study of Indoor Accuracies Between SLAM and Static Scanners

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

A Comparative Study of Indoor Accuracies Between SLAM and Static Scanners

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

A Comparative Study of Indoor Accuracies Between SLAM and Static Scanners

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20101 - Civil engineering

Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

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

Rok uplatnění

2025

Kód důvěrnosti údajů

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

Název periodika

Applied Sciences

ISSN

2076-3417

e-ISSN

2076-3417

Svazek periodika

15

Číslo periodika v rámci svazku

14

Stát vydavatele periodika

CH - Švýcarská konfederace

Počet stran výsledku

24

Strana od-do

1-24

Kód UT WoS článku

001549332100001

EID výsledku v databázi Scopus

2-s2.0-105011688250