Three-Dimensional Digital Documentation of Cultural Heritage Site Based on the Convergence of Terrestrial Laser Scanning and Unmanned Aerial Vehicle Photogrammetry

Indoor Mapping with Entertainment Devices: Evaluating the Impact of Different Mapping Strategies for Microsoft HoloLens 2 and Apple iPhone 14 Pro

Due to their low cost and portability, using entertainment devices for indoor mapping applications has become a hot research topic. However, the impact of user behavior on indoor mapping evaluation with entertainment devices is often overlooked in previous studies. This article aims to assess the indoor mapping performance of entertainment devices under different mapping strategies. We chose two entertainment devices, the HoloLens 2 and iPhone 14 Pro, for our evaluation work. Based on our previous mapping experience and user habits, we defined four simplified indoor mapping strategies: straight-forward mapping (SFM), left-right alternating mapping (LRAM), round-trip straight-forward mapping (RT-SFM), and round-trip left-right alternating mapping (RT-LRAM). First, we acquired triangle mesh data under each strategy with the HoloLens 2 and iPhone 14 Pro. Then, we compared the changes in data completeness and accuracy between the different devices and indoor mapping applications. Our findings show that compared to the iPhone 14 Pro, the triangle mesh accuracy acquired by the HoloLens 2 has more stable performance under different strategies. Notably, the triangle mesh data acquired by the HoloLens 2 under the RT-LRAM strategy can effectively compensate for missing wall and floor surfaces, mainly caused by furniture occlusion and the low frame rate of the depth-sensing camera. However, the iPhone 14 Pro is more efficient in terms of mapping completeness and can acquire a complete triangle mesh more quickly than the HoloLens 2. In summary, choosing an entertainment device for indoor mapping requires a combination of specific needs and scenes. If accuracy and stability are important, the HoloLens 2 is more suitable; if efficiency and completeness are important, the iPhone 14 Pro is better.

Accuracy Assessment of Cultural Heritage Models Extracting 3D Point Cloud Geometric Features with RPAS SfM-MVS and TLS Techniques

A proper classification of 3D point clouds allows fully exploiting data potentiality in assessing and preserving cultural heritage. Point cloud classification workflow is commonly based on the selection and extraction of respective geometric features. Although several research activities have investigated the impact of geometric features on classification outcomes accuracy, only a few works focused on their accuracy and reliability. This paper investigates the accuracy of 3D point cloud geometric features through a statistical analysis based on their corresponding eigenvalues and covariance with the aim of exploiting their effectiveness for cultural heritage classification. The proposed approach was separately applied on two high-quality 3D point clouds of the All Saints’ Monastery of Cuti (Bari, Southern Italy), generated using two competing survey techniques: Remotely Piloted Aircraft System (RPAS) Structure from Motion (SfM) and Multi View Stereo (MVS) techniques and Terrestrial Laser Scanner (TLS). Point cloud compatibility was guaranteed through re-alignment and co-registration of data. The geometric features accuracy obtained by adopting the RPAS digital photogrammetric and TLS models was consequently analyzed and presented. Lastly, a discussion on convergences and divergences of these results is also provided.

An Algorithm for Fitting Sphere Target of Terrestrial LiDAR

The sphere target played a vital role in terrestrial LiDAR applications, and solving its geometrical center based on point cloud was a widely concerned problem. In this study, we proposed a newly finite random search algorithm for sphere target fitting. Based on the point cloud data and the geometric characteristics of the sphere target, the algorithm realized the target sphere fitting from the perspective of probability and statistics with the help of parameter estimation. Firstly, an initial constraint space was constructed, and the initial center and radius were determined by finite random search. Then, the optimal spherical center and radius were determined gradually through continuous iterative optimization. We tested the algorithm with the simulated and realistic point cloud. Experimental results showed that the proposed algorithm could be effectively applied to all kinds of point cloud fitting. When the coverage rate was bigger than 30%, the fitting accuracy could reach within 0.01 mm for all kinds of point clouds. When the coverage rate was less than 20%, the fitting accuracy can reach ±1 mm, although it was reduced to a certain extent.

A Critical Review of Unmanned Aerial Vehicles (UAVs) Use in Architecture and Urbanism: Scientometric and Bibliometric Analysis

In recent years the use of UAVs (Unmanned aerial vehicles) have proliferated in the civil sector for purposes such as search and rescue, remote sensing or real-time monitoring of road traffic, among others. In the architecture, engineering and construction fields (AEC) UAVs have demonstrated to be an ideal technology due to their optimal performance in terms of time, precision, safety and cost. Given the rapid growth of interest in this technology, this research presents a critical review of the literature on the use of UAVs in architecture and urbanism to define the most widely used techniques and delimit the fields of application based on the experimentation published by the scientific community. A scientific mapping was carried out in two stages using the VOSviewerTM software: a scientometric and a bibliometric analysis. This technique allowed us to analyse a large body of literature and bibliographic data to obtain trends, patterns and directions of this domain of knowledge. Then, a literature review was presented, highlighting the relevant information identified in the previous analysis. The fields of application of UAVs were delimited and the most commonly used payload types and the most appropriate post-processing techniques were specified, depending on the aerial mission objective. The fields of application identified included different techniques related to the generation of 3D models, land mapping, construction site monitoring, building surveying to detect structural damage and energy losses and urban remote sensing. The literature review showed that UAVs provide a useful multi-tasking tool at any stage of an architectural project. These techniques can be applied to buildings or public spaces from the design and construction processes when the project is initiated to the later stages of maintenance and inspection of the building during its life cycle.

Close-Range Sensing and Data Fusion for Built Heritage Inspection and Monitoring—A Review

Built cultural heritage is under constant threat due to environmental pressures, anthropogenic damages, and interventions. Understanding the preservation state of monuments and historical structures, and the factors that alter their architectural and structural characteristics through time, is crucial for ensuring their protection. Therefore, inspection and monitoring techniques are essential for heritage preservation, as they enable knowledge about the altering factors that put built cultural heritage at risk, by recording their immediate effects on monuments and historic structures. Nondestructive evaluations with close-range sensing techniques play a crucial role in monitoring. However, data recorded by different sensors are frequently processed separately, which hinders integrated use, visualization, and interpretation. This article’s aim is twofold: i) to present an overview of close-range sensing techniques frequently applied to evaluate built heritage conditions, and ii) to review the progress made regarding the fusion of multi-sensor data recorded by them. Particular emphasis is given to the integration of data from metric surveying and from recording techniques that are traditionally non-metric. The article attempts to shed light on the problems of the individual and integrated use of image-based modeling, laser scanning, thermography, multispectral imaging, ground penetrating radar, and ultrasonic testing, giving heritage practitioners a point of reference for the successful implementation of multidisciplinary approaches for built cultural heritage scientific investigations.

A Multi-Analytical Study for the Enhancement and Accessibility of Archaeological Heritage: The Churches of San Nicola and San Basilio in Motta Sant’Agata (RC, Italy)

In the coming years, Italy will need to take on a great challenge concerning the digitization of its archaeological and architectural heritage, one of the richest and most problematic in the world. The aim is to improve the knowledge, conservation, enhancement and accessibility of cultural assets and to make them a resource for national and local development. In this process, the next generation of 3D survey methods (laser scanning and photogrammetry), in combination with diagnostic techniques (spectroscopy analyses) and GIS/BIM (Geographic Information System/Building Information Modeling) solutions, represent a valid support. This work, part of a broader intervention launched by the Municipality of Reggio Calabria for the requalification of some archaeological sites located within its urban and metropolitan area, is focused on the study case of Motta S. Agata. The ancient settlement is located 8 km from Reggio C. in a hilly area difficult to reach and preserves numerous structures in a state of ruin. Among these, two interesting medieval churches are proposed for examination: the church of San Nicola, characterized by five hypogeal funeral crypts, and the chapel of San Basilio, which preserves the traces of a wall painting. A multi-methodological approach including close-range photogrammetry, laser scanning and chemical and thermal analyses was adopted in order to fulfill different tasks: creating a topographic model of the hillfort, mapping the archaeological evidence, digitizing and returning 3D models of the churches, characterizing materials through chemical analyses and monitoring the surfaces with thermal imaging. These combined applications have contributed to reaching the planned goals, i.e., study, conservation, diagnostics, preparation for restoration interventions, development of digital media and dissemination. In this way, a type of interactive museum (made up of virtual tours and informative digital models) has been made available in order to improve the site’s accessibility and inclusivity as well as to test the effect of digitization in attracting tourists and local people toward a place located outside of the usual tourist circuits.

Modeling and Processing of Smart Point Clouds of Cultural Relics with Complex Geometries

The digital documentation of cultural relics plays an important role in archiving, protection, and management. In the field of cultural heritage, three-dimensional (3D) point cloud data is effective at expressing complex geometric structures and geometric details on the surface of cultural relics, but lacks semantic information. To elaborate the geometric information of cultural relics and add meaningful semantic information, we propose a modeling and processing method of smart point clouds of cultural relics with complex geometries. An information modeling framework for complex geometric cultural relics was designed based on the concept of smart point clouds, in which 3D point cloud data are organized through the time dimension and different spatial scales indicating different geometric details. The proposed model allows smart point clouds or a subset to be linked with semantic information or related documents. As such, this novel information modeling framework can be used to describe rich semantic information and high-level details of geometry. The proposed information model not only expresses the complex geometric structure of the cultural relics and the geometric details on the surface, but also has rich semantic information, and can even be associated with documents. A case study of the Dazu Thousand-Hand Bodhisattva Statue, which is characterized by a variety of complex geometries, reveals that our proposed framework is capable of modeling and processing the statue with excellent applicability and expansibility. This work provides insights into the sustainable development of cultural heritage protection globally.

Documentation of Complex Environments Using 360° Cameras. The Santa Marta Belltower in Montanaro

Low-cost and fast surveying approaches are increasingly being deployed in several domains, including in the field of built heritage documentation. In parallel with mobile mapping systems, uncrewed aerial systems, and simultaneous location and mapping systems, 360° cameras and spherical photogrammetry are research topics attracting significant interest for this kind of application. Although several instruments and techniques can be considered to be consolidated approaches in the documentation processes, the research presented in this manuscript is focused on a series of tests and analyses using 360° cameras for the 3D metric documentation of a complex environment, applied to the case study of a XVIII century belltower in Piemonte region (north-west Italy). Both data acquisition and data processing phases were thoroughly investigated and several processing strategies were planned, carried out, and evaluated. Data derived from consolidated 3D mapping approaches were used as a ground reference to validate the results derived from the spherical photogrammetry approach. The outcomes of this research confirmed, under specific conditions and with a proper setup, the possibility of using 360° images in a Structure from Motion pipeline to meet the expected accuracies of typical architectural large-scale drawings.

Integration of Laser Scanner and Photogrammetry for Heritage BIM Enhancement

Digital 3D capture and reliable reproduction of architectural features is the first and most difficult step towards defining a heritage BIM. Three-dimensional digital survey technologies, such as TLS and photogrammetry, enable experts to scan buildings with a new level of detail. Challenges in the tracing of parametric objects in a TLS point cloud include the reconstruction of occluded parts, measurement of uncertainties relevant to surface reflectivity, and edge detection and location. In addition to image-based techniques being considered cost effective, highly flexible, and efficient in producing a high-quality 3D textured model, they also provide a better interpretation of surface linear characteristics. This article addresses an architecture survey workflow using photogrammetry and TLS to optimize a point cloud that is sufficient for a reliable HBIM. Fusion-based workflows were proposed during the recording of two heritage sites—the Matbouli House Museum in Historic Jeddah, a UNESCO World Heritage Site; and Asfan Castle. In the Matbouli House Museum building, which is rich with complex architectural features, multi-sensor recording was implemented at different resolutions and levels of detail. The TLS data were used to reconstruct the basic shape of the main structural elements, while the imagery’s superior radiometric data and accessibility were effectively used to enhance the TLS point clouds for improving the geometry, data interpretation, and parametric tracing of irregular objects in the facade. Furthermore, in the workflow that is considered to be the ragged terrain of the Castle of Asfan, here, the TLS point cloud was supplemented with UAV data in the upper building zones where the shadow data originated. Both datasets were registered using an ICP algorithm to scale the photogrammetric data and define their actual position in the construction system. The hybrid scans were imported and processed in the BIM environment. The building components were segmented and classified into regular and irregular surfaces, in order to perform detailed building information modeling of the architectural elements. The proposed workflows demonstrated an appropriate performance in terms of reliable and complete BIM mapping in the complex structures.

3D Sensor-Fusion for the Documentation of Rural Heritage Buildings

3D computer vision techniques are now required for the virtual reconstruction of ancient buildings and monuments in urban environments. In this paper, we include a new subfield within the broad field of Urban Heritage that we denominate as Rural Heritage (RH), and which is focused on recovering 3D models of small buildings and facilities of significance in rural environments. We, therefore, present a multi-sensory approach whose objective is to create complete architectural documentation of the dovecotes in an extended region of central Spain. This kind of aviary construction was very common in Spanish rural environments during the 19th century and the first half of the 20th century and is representative of an RH building. Sensory fusion was developed using color cameras, 3D terrestrial laser scanners, and photogrammetric techniques with Unmanned Aerial Vehicles (UAV) and achieves precise indoor and outdoor 3D models. The sensory fusion here also refers to the fact that the information coming from different sensors is integrated into a common documentation framework. A total of 80 dovecotes have been referenced and made available to the public in open access resources. The successful results and applicability of our method lead us to believe that the current documentation and the safeguard technologies in the RH field should evolve towards the use of these 3D computer vision techniques.

Symmetry Analysis of Oriental Polygonal Pagodas Using 3D Point Clouds for Cultural Heritage

Ancient pagodas are usually parts of hot tourist spots in many oriental countries due to their unique historical backgrounds. They are usually polygonal structures comprised by multiple floors, which are separated by eaves. In this paper, we propose a new method to investigate both the rotational and reflectional symmetry of such polygonal pagodas through developing novel geometric models to fit to the 3D point clouds obtained from photogrammetric reconstruction. The geometric model consists of multiple polygonal pyramid/prism models but has a common central axis. The method was verified by four datasets collected by an unmanned aerial vehicle (UAV) and a hand-held digital camera. The results indicate that the models fit accurately to the pagodas’ point clouds. The symmetry was realized by rotating and reflecting the pagodas’ point clouds after a complete leveling of the point cloud was achieved using the estimated central axes. The results show that there are RMSEs of 5.04 cm and 5.20 cm deviated from the perfect (theoretical) rotational and reflectional symmetries, respectively. This concludes that the examined pagodas are highly symmetric, both rotationally and reflectionally. The concept presented in the paper not only work for polygonal pagodas, but it can also be readily transformed and implemented for other applications for other pagoda-like objects such as transmission towers.

An Efficient Probabilistic Registration Based on Shape Descriptor for Heritage Field Inspection

Heritage documentation is implemented by digitally recording historical artifacts for the conservation and protection of these cultural heritage objects. As efficient spatial data acquisition tools, laser scanners have been widely used to collect highly accurate three-dimensional (3D) point clouds without damaging the original structure and the environment. To ensure the integrity and quality of the collected data, field inspection (i.e., on-spot checking the data quality) should be carried out to determine the need for additional measurements (i.e., extra laser scanning for areas with quality issues such as data missing and quality degradation). To facilitate inspection of all collected point clouds, especially checking the quality issues in overlaps between adjacent scans, all scans should be registered together. Thus, a point cloud registration method that is able to register scans fast and robustly is required. To fulfill the aim, this study proposes an efficient probabilistic registration for free-form cultural heritage objects by integrating the proposed principal direction descriptor and curve constraints. We developed a novel shape descriptor based on a local frame of principal directions. Within the frame, its density and distance feature images were generated to describe the shape of the local surface. We then embedded the descriptor into a probabilistic framework to reject ambiguous matches. Spatial curves were integrated as constraints to delimit the solution space. Finally, a multi-view registration was used to refine the position and orientation of each scan for the field inspection. Comprehensive experiments show that the proposed method was able to perform well in terms of rotation error, translation error, robustness, and runtime and outperformed some commonly used approaches.

Analytical Determination of Geometric Parameters of the Rotary Kiln by Novel Approach of TLS Point Cloud Segmentation

This research focused on determining a rotary kiln’s geometric parameters in a non-traditional geodetic way—by deriving them from a survey realized by a terrestrial laser scanner (TLS). The point cloud obtained by TLS measurement was processed to derive the longitudinal axis of the RK. Subsequently, the carrier tires’ geometric parameters and shell of the RK during the shutdown were derived. Manual point cloud selection (segmentation) is the base method for removing unnecessary points. This method is slow but precise and controllable. The proposed analytical solution is based on calculating the distance from each point to the RK’s nominal axis (local radius). Iteration using a histogram function was repeatedly applied to detect points with the same or similar radiuses. The most numerous intervals of points were selected and stored in separate files. In the comparison, we present the conformity of analytically and manually obtained files and derived geometric values of the RK-radiuses’ spatial parameters and coordinates of the carrier tires’ centers. The horizontal (X and Y directions) and vertical (Z-direction) of root–mean–square deviation (RMSD) values are up to 2 mm. RMSD of the fitting of cylinders is also up to 2 mm. The center of the carrier tires defines the longitudinal axis of the RK. Analytical segmentation of the points was repeated on the remaining point cloud for the selection of the points on the outer shell of the RK. Deformation analysis of the shell of the RK was performed using a cylinder with a nominal radius. Manually and analytically processed point clouds were investigated and mutually compared. The calculated RMSD value is up to 2 mm. Parallel cuts situated perpendicularly to the axis of the RK were created. Analysis of ovality (flattening) of the shell was performed. Additionally, we also present the effect of gradually decreasing density (number) of points on the carrier tires for their center derivation.

Color and Laser Data as a Complementary Approach for Heritage Documentation

Heritage recording has received much attention and benefits from recent developments in the field of range and imaging sensors. While these methods have often been viewed as two different methodologies, data integration can achieve different products, which are not always found in a single technique. Data integration in this paper can be divided into two levels: laser scanner data aided by photogrammetry and photogrammetry aided by scanner data. At the first level, superior radiometric information, mobility and accessibility of imagery can be actively used to add texture information and allow for new possibilities in terms of data interpretation and completeness of complex site documentation. In the second level, true orthophoto is generated based on laser data, the results are rectified images with a uniform scale representing all objects at their planimetric position. The proposed approaches enable flexible data fusion and allow images to be taken at an optimum time and position for radiometric information. Data fusion usually involves serious distortions in the form of a double mapping of occluded objects that affect the product quality. In order to enhance the efficiency of visibility analysis in complex structures, a proposed visibility algorithm is implemented into the developed methods of texture mapping and true orthophoto generation. The algorithm filters occluded areas based on a patch processing using a grid square unit set around the projected vertices. The depth of the mapped triangular vertices within the patch neighborhood is calculated to assign the visible one. In this contribution, experimental results from different historical sites in Jordan are presented as a validation of the proposed algorithms. Algorithms show satisfactory performance in terms of completeness and correctness of occlusion detection and spectral information mapping. The results indicate that hybrid methods could be used efficiently in the representation of heritage structures.

Novel Pole Photogrammetric System for Low-Cost Documentation of Archaeological Sites: The Case Study of “Cueva Pintada”

Close-range photogrammetry is a powerful and widely used technique for 3D reconstruction of archaeological environments, specifically when a high-level detail is required. This paper presents an innovative low-cost system that allows high quality and detailed reconstructions of indoor complex scenarios with unfavorable lighting conditions by means of close-range nadir and oblique images as an alternative to drone acquisitions for those places where the use of drones is limited or discouraged: (i) indoor scenarios in which both loss of GNSS signal and need of long exposure times occur, (ii) scenarios with risk of raising dust in suspension due to the proximity to the ground and (iii) complex scenarios with variability in the presence of nooks and vertical elements of different heights. The low-altitude aerial view reached with this system allows high-quality 3D documentation of complex scenarios helped by its ergonomic design, self-stability, lightness, and flexibility of handling. In addition, its interchangeable and remote-control support allows to board different sensors and perform both acquisitions that follow the ideal photogrammetric epipolar geometry but also acquisitions with geometry variations that favor a more complete and reliable reconstruction by avoiding occlusions. This versatile pole photogrammetry system has been successfully used to 3D reconstruct and document the “Cueva Pintada” archaeological site located in Gran Canaria (Spain), of approximately 5400 m2 with a Canon EOS 5D MARK II SLR digital camera. As final products: (i) a great quality photorealistic 3D model of 1.47 mm resolution and ±8.4 mm accuracy, (ii) detailed orthophotos of the main assets of the archaeological remains and (iii) a visor 3D with associated information on the structures, materials and plans of the site were obtained.

Dynamic Behavior and Deposit Features of Debris Avalanche in Model Tests Using High Speed Photogrammetry

Model tests of debris avalanche can not only illuminate formation mechanisms but also represent deformation and motion processes. At present, the static terrain data of model tests are measured before and after experiments using terrestrial laser scanning. To study the motion and deformation of research objects, it is necessary to explore new techniques to obtain dynamic terrain data in the course of experimentation. In this paper, taking specified experimental tests of debris avalanche as an example, the method of 4D reconstruction using high-speed close-range photogrammetry is described in detail. The dynamic terrain data of model tests were obtained after the data were processed. Then, the dynamic behavior and deposit features of debris avalanche were analyzed in detail. Results show that dynamic terrain data of model tests can be obtained rapidly and accurately with this method. The propagation and deposit processes of the debris avalanche have evident stage characteristics, which can be divided into the starting, acceleration, constant, and deceleration stages. The granular size, slope angle, and barrier effect have a great influence on the travel distance and duration of the debris avalanche. The depth of the intermediate and leading area of the debris avalanche increased gradually and the depth of the trailing area first increased then decreased. We believe that this approach can also be applied to other domains involving the acquisition of dynamic terrain data and, thus, deserves to be applied widely.

Geovisualization of the Excavation Process in the Lesvos Petrified Forest, Greece Using Augmented Reality

Augmented reality (AR), in conjunction with 3D geovisualization methods, can provide significant support in monitoring geoconservation activities in protected geosites, such as the excavation process in fossil sites. The excavation process requires a monitoring methodology that will provide a complete and accurate overview of the fossils, their dimensions, and location within the different pyroclastic horizons, and the progress of the excavation works. The main purpose of this paper is the development of a user-friendly augmented map application, specifically designed for tracking the position of petrified tree trunks, providing information for their geometric features, and mapping the spatiotemporal changes occurring in the surrounding space. It also aims to probe whether the rapid acquisition of a 4K video can generate cartographic derivatives of petrified findings during a geosite excavation. A database accumulated 2D and 3D cartographic information, while the geovisualization environment displayed the surface alterations, at two scales: a) 1:500 (excavation area) and b) 1:50 (trench level). Unmanned aerial systems (UASs), used for data acquisition in three excavation periods, consisted of two flights at two different altitudes: one to record changes throughout the study area and the other to provide information on trunks at trench level, via a high-resolution (4K) video. Image-based 3D modeling followed, in which image georeferencing was conducted with ground control points (GCPs). Finally, 2D and 3D geovisualizations were created to depict the excavation changes through time. The cartographic products generated at two cartographic scales depicted the spatiotemporal changes of the excavation.

Integrating UAV and TLS Approaches for Environmental Management: A Case Study of a Waste Stockpile Area

A methodology for optimal volume computation for the environmental management of waste stockpiles was derived by integrating the terrestrial laser scanning (TLS) and unmanned aerial vehicle (UAV) technologies. Among the UAV-based point clouds generated under various flight scenarios, the most accurate point cloud was selected for analysis. The root mean square errors (RMSEs) of the TLS- and UAV-based methods were 0.202 and 0.032 m, respectively, and the volume computation yielded 41,226 and 41,526 m3, respectively. Both techniques showed high accuracy but also exhibited drawbacks in terms of their spatial features and efficiency. The TLS and UAV methods required 800 and 340 min, respectively, demonstrating the high efficiency of the UAV method. The RMSE and volume obtained using the TLS/UAV fusion model were calculated as 0.030 m and 41,232 m3, respectively. The UAV approach generally yielded high point cloud accuracy and volume computation efficiency.

Feasibility Assessments Using Unmanned Aerial Vehicle Technology in Heritage Buildings: Rehabilitation-Restoration, Spatial Analysis and Tourism Potential Analysis

The Transylvanian region of Romania is a place of rich history since ancient times, where the original natural environment around architectural heritage sites or buildings has not been severely altered by urban development. Unfortunately, many such places are left by the authorities to degrade or totally collapse for lack of funds, vision or initiatives. The current paper addresses the potential of Unmanned Aerial Vehicles (UAVs) in the assessment of a viable and feasible prospect of restoration on a 19th century mansion that belonged to a nobiliary family. UAV use is rising in many industries and has become very popular in the last decade, but for survey engineering and related domains they represent a quantum leap in technology. Integrating UAV-acquired data and structure from motion software, has enabled modern techniques to obtain useful metrics from the field, accurate photorealistic 3D models for visual inspection, structural damage analyses, architectural rehabilitation-restoration, conservation and spatial analysis of the surrounding area. In this work a socio-cultural planning and design process is explored and presented to improve the local community and inclusion in a tourist circuit based on the regional potential, as well as an evaluation of accessibility derived from a vector-raster database that highlights the central position of the cultural heritage in regards to the axis of circulation between the important metropolitan areas and the local tourist attractions. This established workflow of modern topographic and construction measurements is fully integrable into the architectural process, building information modelling, heritage conservation and reconstruction.

Automatic Threat Detection for Historic Buildings in Dark Places Based on the Modified OptD Method

Historic buildings, due to their architectural, cultural, and historical value, are the subject of preservation and conservatory works. Such operations are preceded by an inventory of the object. One of the tools that can be applied for such purposes is Light Detection and Ranging (LiDAR). This technology provides information about the position, reflection, and intensity values of individual points; thus, it allows for the creation of a realistic visualization of the entire scanned object. Due to the fact that LiDAR allows one to ‘see’ and extract information about the structure of an object without the need for external lighting or daylight, it can be a reliable and very convenient tool for data analysis for improving safety and avoiding disasters. The main goal of this paper is to present an approach of automatic wall defect detection in unlit sites by means of a modified Optimum Dataset (OptD) method. In this study, the results of Terrestrial Laser Scanning (TLS) measurements conducted in two historic buildings in rooms without daylight are presented. One location was in the basement of the ruins of a medieval tower located in Dobre Miasto, Poland, and the second was in the basement of a century-old building located at the University of Warmia and Mazury in Olsztyn, Poland. The measurements were performed by means of a Leica C-10 scanner. The acquired dataset of x, y, z, and intensity was processed by the OptD method. The OptD operates in such a way that within the area of interest where surfaces are imperfect (e.g., due to cracks and cavities), more points are preserved, while at homogeneous surfaces (areas of low interest), more points are removed (redundant information). The OptD algorithm was additionally modified by introducing options to detect and segment defects on a scale from 0 to 3 (0—harmless, 1—to the inventory, 2—requiring repair, 3—dangerous). The survey results obtained proved the high effectiveness of the modified OptD method in the detection and segmentation of the wall defects. The values of area of changes were calculated. The obtained information about the size of the change can be used to estimate the costs of repair, renovation, and reconstruction.

Fully Automated Profile-based Calibration Strategy for Airborne and Terrestrial Mobile LiDAR Systems with Spinning Multi-beam Laser Units

LiDAR-based mobile mapping systems (MMS) are rapidly gaining popularity for a multitude of applications due to their ability to provide complete and accurate 3D point clouds for any and every scene of interest. However, an accurate calibration technique for such systems is needed in order to unleash their full potential. In this paper, we propose a fully automated profile-based strategy for the calibration of LiDAR-based MMS. The proposed technique is validated by comparing its accuracy against the expected point positioning accuracy for the point cloud based on the used sensors’ specifications. The proposed strategy was seen to reduce the misalignment between different tracks from approximately 2 to 3 m before calibration down to less than 2 cm after calibration for airborne as well as terrestrial mobile LiDAR mapping systems. In other words, the proposed calibration strategy can converge to correct estimates of mounting parameters, even in cases where the initial estimates are significantly different from the true values. Furthermore, the results from the proposed strategy are also verified by comparing them to those from an existing manually-assisted feature-based calibration strategy. The major contribution of the proposed strategy is its ability to conduct the calibration of airborne and wheel-based mobile systems without any requirement for specially designed targets or features in the surrounding environment. The above claims are validated using experimental results conducted for three different MMS – two airborne and one terrestrial – with one or more LiDAR unit.

Assessment of DSMs Using Backpack-Mounted Systems and Drone Techniques to Characterise Ancient Underground Cellars in the Duero Basin (Spain)

In this study, a backpack-mounted 3D mobile scanning system and a fixed-wing drone (UAV) have been used to register terrain data on the same space. The study area is part of the ancient underground cellars in the Duero Basin. The aim of this work is to characterise the state of the roofs of these wine cellars by obtaining digital surface models (DSM) using the previously mentioned systems to detect any possible cases of collapse, using four geomatic products obtained with these systems. The results obtained from the process offer sufficient quality to generate valid DSMs in the study area or in a similar area. One limitation of the DSMs generated by backpack MMS is that the outcome depends on the distance of the points to the axis of the track and on the irregularities in the terrain. Specific parameters have been studied, such as the measuring distance from the scanning point in the laser scanner, the angle of incidence with regard to the ground, the surface vegetation, and any irregularities in the terrain. The registration speed and the high definition of the terrain offered by these systems produce a model that can be used to select the correct conservation priorities for this unique space.

Three-Dimensional (3D) Modeling of Cultural Heritage Site Using UAV Imagery: A Case Study of the Pagodas in Wat Maha That, Thailand

As a novel innovative technology, unmanned aerial vehicles (UAVs) are increasingly being used in archaeological studies owing to their cost-effective, simple photogrammetric tool that can produce high-resolution scaled models. This study focuses on the three-dimensional (3D) modeling of the pagoda at Wat Maha That, an archaeological site in the Ayutthaya province of Thailand, which was declared a UNESCO World Heritage Site of notable cultural and historical significance in 1991. This paper presents the application of UAV imagery to generate an accurate 3D model using two pagodas at Wat Maha That as case studies: Chedi and Prang. The methodology described in the paper provides an effective, economical manner of semi-automatic mapping and contributes to the high-quality modeling of cultural heritage sites. The unmanned aerial vehicle structure-from-motion (UAV-SfM) method was used to generate a 3D Wat Mahathat pagoda model. Its accuracy was compared with a model obtained using terrestrial laser scanning and check points. The findings indicated that the 3D UAV-SfM pagoda model was sufficiently accurate to support pagoda conservation management in Thailand.

Combined Methodologies for the Survey and Documentation of Historical Buildings: The Castle of Scalea (CS, Italy)

In the last few years, new technologies have become indispensable tools for specialists in the field of cultural heritage for the analysis, reconstruction and interpretation of data but also for promotion of artefacts or buildings sometimes inaccessible or in a bad state of conservation. The discipline of geomatics offer many opportunities and solutions for integrated digital surveys and the documentation of heritage (point-based methods, image-based photogrammetry and their combination): These data can be processed in order to derive metric information and share them using databases or GIS (geographic information system) tools. This paper is focused on the description of combined survey methodologies adopted for the geometric and architectural documentation of the site and surviving structures of the Castel of Scalea (Cosenza, Italy). It is a typical context where traditional survey procedures do not fully succeed or require a longer amount of time and great effort if a high level of accuracy is requested: For this reason, aerial close-range digital photogrammetry enhanced by the GNSS (global navigation satellite system), and total station positioning systems have been used at various levels of detail for the production of a detailed 3D model and 2D thematic maps with an excellent level of in the positioning of the structures and in the architectural drawing. Thanks to the collected dataset, it was possible to better identify the building units (CF), to digitize the limits of the masonry stratigraphic units (USM), and to draw up a first constructive diachronic sequence hypothesis on which to base chronology. Moreover, some particular masonry techniques have been sampled and compared at the regional level with the aim to better dating of constructive expedients. It was finally demonstrated how the use of integrated methodologies allows us to obtain a complete and detailed documentation including information regarding not only architectural and geometrical features but also archaeological and historical elements, building materials and decay evidences—all useful as support of the interpretation of data.

Symmetrical Patterns of Ainu Heritage and Their Virtual and Physical Prototyping

This article addresses virtual and physical prototyping of some symmetrical patterns collected from the Ainu cultural heritage. The indigenous people living in the northern part of Japan (e.g., Hokkaido), known as Ainu, often decorate their houses, clothing, ornaments, utensils, and spiritual goods using some unique patterns. The patterns carry their identity as well as their sense of aesthetics. Nowadays, different kinds of souvenirs and cultural artifacts crafted with Ainu patterns are cherished by many individuals in Japan and abroad. Thus, the Ainu patterns carry both cultural and commercial significance. A great deal of craftsmanship is needed to produce the Ainu patterns precisely. There is a lack of human resources having such craftsmanship. It will remain the same in the foreseeable future. Thus, there is a pressing need to preserve such craftsmanship. Digital manufacturing technology can be used to preserve the Ainu pattern-making craftsmanship. From this perspective, this article presents a methodology to create both virtual and physical prototypes of Ainu patterns using digital manufacturing technology. In particular, a point cloud-based approach was adopted to model the patterns. A point cloud representing a pattern was then used to create a virtual prototype of the pattern in the form of a solid CAD model. The triangulation data of each solid CAD model were then used to run a 3D printer to produce a physical prototype (replica of the pattern). The virtual and physical prototypes of both basic (Hokkaido) Ainu motifs and some synthesized patterns were reproduced using the presented methodology. The findings of this study will help those who want to digitize the craftsmanship of culturally significant artifacts without using a 3D scanner or image processing.

New Target for Accurate Terrestrial Laser Scanning and Unmanned Aerial Vehicle Point Cloud Registration

The main goal of our research was to design and implement an innovative target that would be suitable for accurately registering point clouds produced from unmanned aerial vehicle (UAV) images and terrestrial laser scans. Our new target is composed of three perpendicular planes that combine the properties of plane and volume targets. The new target enables the precise determination of reference target points in aerial and terrestrial point clouds. Different types of commonly used plane and volume targets as well as the new target were placed in an established test area in order to evaluate their performance. The targets were scanned from multiple scanner stations and surveyed with an unmanned aerial vehicle DJI Phantom 4 PRO at three different altitudes (20, 40, and 75 m). The reference data were measured with a Leica Nova MS50 MultiStation. Several registrations were performed, each time with a different target. The quality of these registrations was assessed on the check points. The results showed that the new target yielded the best results in all cases, which confirmed our initial expectations. The proposed new target is innovative and not difficult to create and use.

Automated Multi-Sensor 3D Reconstruction for the Web

The Internet has become a major dissemination and sharing platform for 3D content. The utilization of 3D measurement methods can drastically increase the production efficiency of 3D content in an increasing number of use cases where 3D documentation of real-life objects or environments is required. We demonstrated a developed, highly automated and integrated content creation process of providing reality-based photorealistic 3D models for the web. Close-range photogrammetry, terrestrial laser scanning (TLS) and their combination are compared using available state-of-the-art tools in a real-life project setting with real-life limitations. Integrating photogrammetry and TLS is a good compromise for both geometric and texture quality. Compared to approaches using only photogrammetry or TLS, it is slower and more resource-heavy but combines complementary advantages of each method, such as direct scale determination from TLS or superior image quality typically used in photogrammetry. The integration is not only beneficial, but clearly productionally possible using available state-of-the-art tools that have become increasingly available also for non-expert users. Despite the high degree of automation, some manual editing steps are still required in practice to achieve satisfactory results in terms of adequate visual quality. This is mainly due to the current limitations of WebGL technology.