The combined use of SLAM laser scanning and TLS for the 3D indoor mapping

Aino Keitaanniemi*, Juho Pekka Virtanen, Petri Rönnholm, Antero Kukko, Toni Rantanen, Matti T. Vaaja

*Corresponding author for this work

Research output: Contribution to journalArticleScientificpeer-review

11 Citations (Scopus)
94 Downloads (Pure)


An efficient 3D survey of a complex indoor environment remains a challenging task, especially if the accuracy requirements for the geometric data are high for instance in building information modeling (BIM) or construction. The registration of non-overlapping terrestrial laser scanning (TLS) point clouds is laborious. We propose a novel indoor mapping strategy that uses a simultaneous localization and mapping (SLAM) laser scanner (LS) to support the building-scale registration of non-overlapping TLS point clouds in order to reconstruct comprehensive building floor/3D maps. This strategy improves efficiency since it allows georeferenced TLS data to only be collected from those parts of the building that require such accuracy. The rest of the building is measured with SLAM LS accuracy. Based on the results of the case study, the introduced method can locate non-overlapping TLS point clouds with an accuracy of 18–51 mm using target sphere comparison.

Original languageEnglish
Article number386
Number of pages18
Issue number9
Publication statusPublished - Sept 2021
MoE publication typeA1 Journal article-refereed


  • 3D mapping 5
  • Non-overlap 2
  • Point clouds 4
  • Simultaneous localization and mapping (SLAM) 1
  • Terrestrial laser scanning (TLS) 3


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