Use of the SLAM technique associated with structured light mapping for registration and virtualization of historical heritage interiors

• Autor(a) principal: Oliveira, Pedro Henrique Sousa Marques
• Data de Publicação: 2021
• Outros Autores: Albarici, Fabio Luiz, Olvieira, Henrique Candido de, Reberte, João Carlos Brandão
• Tipo de documento: Artigo
• Idioma: por
• Título da fonte: Research, Society and Development
• Texto Completo: https://rsdjournal.org/index.php/rsd/article/view/18624
• topic: LASER; SLAM; Structured light scan; Virtual tour.; LASER; SLAM; Escaneo de luz estructurada; Visita virtual.; LASER; SLAM; Varredura por luz estruturada; Tour virtual.

The representation and documentation of cultural heritage and registration of historic buildings, reconstruction or renovation are invaluable in maintaining the originality of such structures. Currently, the adopted solution is the 3D documentation, using the LASER scanning technique, where the main advantage is the high density of points and radiometric information. This work presents a methodology that applies the SLAM technique associated with the structured light scanning system, which, in addition to allowing the internal mapping of historic buildings, it enables the realization of a virtual tour throughout the mapped environment. The purpose of this work is to carry out the internal mapping of a church, verifying its accuracy and generating a 3D model - allowing the user to interact with the virtual environment and be able to have online access to the interior of the church. Thus, the user will be able to use the measurement tools and information about the works present in the building. In order to evaluate the results of the mapped features, numerical tests were performed that check the measurements of the 3D mapping with the real measurements obtained by a topographic equipment (total station). The results indicate that the analyzes performed show a maximum discrepancy of 1.5 cm between the 3D mapping via SLAM and the real one. Thus, it can be said that the applied methodology is reliable and accurate for several knowledge areas that benefit from three-dimensional modeling and a database to perform a virtual tour.