{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,2]],"date-time":"2026-06-02T11:57:54Z","timestamp":1780401474158,"version":"3.54.1"},"reference-count":37,"publisher":"MDPI AG","issue":"14","license":[{"start":{"date-parts":[[2025,7,19]],"date-time":"2025-07-19T00:00:00Z","timestamp":1752883200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"European Union under the project INODIN","award":["CZ.02.01.01\/00\/23_020\/0008487"],"award-info":[{"award-number":["CZ.02.01.01\/00\/23_020\/0008487"]}]},{"name":"European Union under the project INODIN","award":["SQ01010105"],"award-info":[{"award-number":["SQ01010105"]}]},{"name":"The Technology Agency of The Czech Republic under the project MESVYVED","award":["CZ.02.01.01\/00\/23_020\/0008487"],"award-info":[{"award-number":["CZ.02.01.01\/00\/23_020\/0008487"]}]},{"name":"The Technology Agency of The Czech Republic under the project MESVYVED","award":["SQ01010105"],"award-info":[{"award-number":["SQ01010105"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Applied Sciences"],"abstract":"<jats:p>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\u2014both newer-generation devices\u2014demonstrated significant improvements over the older-generation GeoSLAM ZEB Horizon RT. After smoothing, the noise levels of these new-generation SLAM scanners (approx. 2.1\u20132.2 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.<\/jats:p>","DOI":"10.3390\/app15148053","type":"journal-article","created":{"date-parts":[[2025,7,21]],"date-time":"2025-07-21T10:35:31Z","timestamp":1753094131000},"page":"8053","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["A Comparative Study of Indoor Accuracies Between SLAM and Static Scanners"],"prefix":"10.3390","volume":"15","author":[{"given":"Anna","family":"Chrbolkov\u00e1","sequence":"first","affiliation":[{"name":"Department of Special Geodesy, Faculty of Civil Engineering, Czech Technical University in Prague, Th\u00e1kurova 7, 166 36 Prague, Czech Republic"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0070-7172","authenticated-orcid":false,"given":"Martin","family":"\u0160troner","sequence":"additional","affiliation":[{"name":"Department of Special Geodesy, Faculty of Civil Engineering, Czech Technical University in Prague, Th\u00e1kurova 7, 166 36 Prague, Czech Republic"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0996-1241","authenticated-orcid":false,"given":"Rudolf","family":"Urban","sequence":"additional","affiliation":[{"name":"Department of Special Geodesy, Faculty of Civil Engineering, Czech Technical University in Prague, Th\u00e1kurova 7, 166 36 Prague, Czech Republic"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6809-4910","authenticated-orcid":false,"given":"Ond\u0159ej","family":"Michal","sequence":"additional","affiliation":[{"name":"Department of Special Geodesy, Faculty of Civil Engineering, Czech Technical University in Prague, Th\u00e1kurova 7, 166 36 Prague, Czech Republic"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5043-8321","authenticated-orcid":false,"given":"Tom\u00e1\u0161","family":"K\u0159emen","sequence":"additional","affiliation":[{"name":"Department of Special Geodesy, Faculty of Civil Engineering, Czech Technical University in Prague, Th\u00e1kurova 7, 166 36 Prague, Czech Republic"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jaroslav","family":"Braun","sequence":"additional","affiliation":[{"name":"Department of Special Geodesy, Faculty of Civil Engineering, Czech Technical University in Prague, Th\u00e1kurova 7, 166 36 Prague, Czech Republic"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2025,7,19]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"90","DOI":"10.3390\/virtualworlds2020006","article-title":"Static Terrestrial Laser Scanning (TLS) for Heritage Building Information Modeling (HBIM): A Systematic Review","volume":"2","author":"Liu","year":"2023","journal-title":"Virtual Worlds"},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Wang, Y., Chen, Q., Zhu, Q., Liu, L., Li, C., and Zheng, D. 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Buildings, 11.","DOI":"10.3390\/buildings11090386"}],"container-title":["Applied Sciences"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/2076-3417\/15\/14\/8053\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,9]],"date-time":"2025-10-09T18:12:39Z","timestamp":1760033559000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/2076-3417\/15\/14\/8053"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,7,19]]},"references-count":37,"journal-issue":{"issue":"14","published-online":{"date-parts":[[2025,7]]}},"alternative-id":["app15148053"],"URL":"https:\/\/doi.org\/10.3390\/app15148053","relation":{},"ISSN":["2076-3417"],"issn-type":[{"value":"2076-3417","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,7,19]]}}}