A SLAM Integrated Approach for Digital Heritage Documentation Salvatore Barba (B ) , Carla Ferreyra , Victoria Andrea Cotella , Andrea di Filippo , and Secondo Amalfitano Dipartimento di Ingegneria Civile, Università degli Studi di Salerno, Fisciano, Italy sbarba@unisa.it Abstract. The digital acquisition of Cultural Heritage is a complex process, highly depending on the nature of the object as well as the purpose of its detection. Even if there are different survey techniques and sensors that allow the generation of realistic 3D models, defined by a good metric quality and a detail consistent with the geometric characteristics of the object, an interesting goal could be to develop a unified treatment of the methodologies. Villa Rufolo, with its intricate articulation, becomes the benchmark to test an integrated protocol between photogrammetry, Terrestrial Laser Scanning (TLS) and a Wearable Mobile Laser System (WMLS) based on a SLAM approach. To quantify the accuracy of the latter solution, a comparison is proposed. For the case study the ZEB1, produced and marketed by GeoSLAM, is tested. Computations of cloud-to-cloud (C2C) absolute distances is performed, using stationary laser scanner (Faro Focus 3D X130) as a reference. Finally, the obtained results are reported, allowing us to assert that the quality of the WMLS measurements is compatible with the data provided by the manufacturer, thus making the instrumentation suitable for certain specific applications. Keywords: Indoor mapping · Laser scanning · Photogrammetry 1 Introduction Cultural Heritage can be defined as a living memory of our society, an irreplaceable testimony of a particular moment in human history. The guidelines for its conservation and enhancement, codified in the Athens Charter and repeatedly reiterated by subsequent documents up to the most recent UNESCO Recommendations, underline the importance of multidisciplinary and scientific approaches for the management of interventions in cultural heritage sites. The digital survey plays a key role in their documentation; it provides an interesting and innovative scientific basis for study and research, as well as ensuring an effective dissemination approach even for a non-technical audience. Currently, the use of new technologies for data acquisition in the architectural field has reached a wide diffusion, mainly due to the ability to digitize artifacts with great accuracy and the possibility to generate information models useful for the phases of anal- ysis, simulation, and interpretation [1, 2]. The most widespread techniques, which have © Springer Nature Switzerland AG 2021 M. Rauterberg (Ed.): HCII 2021, LNCS 12794, pp. 27–39, 2021. https://doi.org/10.1007/978-3-030-77411-0_3