{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,10]],"date-time":"2026-06-10T10:26:57Z","timestamp":1781087217519,"version":"3.54.1"},"reference-count":61,"publisher":"MDPI AG","issue":"9","license":[{"start":{"date-parts":[[2021,8,28]],"date-time":"2021-08-28T00:00:00Z","timestamp":1630108800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Academy of Finland the Strategic Research Council projects, \u201cCompetence-Based Growth Through Integrated Disruptive Technologies of 3D Digitalization, Robotics, Geospatial Information, and Image Processing\/Computing\u2014Point Cloud Ecosystem","award":["293389, 314312"],"award-info":[{"award-number":["293389, 314312"]}]},{"name":"project Profi5 &quot;Autonomous systems\u201d","award":["326246"],"award-info":[{"award-number":["326246"]}]},{"name":"the European Social Fund","award":["S21997"],"award-info":[{"award-number":["S21997"]}]},{"name":"the City of Helsinki Innovation fund","award":["nonumber"],"award-info":[{"award-number":["nonumber"]}]},{"name":"Aalto University School of Engineering Tenure track (Digital Photogrammetry) funding","award":["nonumber"],"award-info":[{"award-number":["nonumber"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Buildings"],"abstract":"<jats:p>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\u201351 mm using target sphere comparison.<\/jats:p>","DOI":"10.3390\/buildings11090386","type":"journal-article","created":{"date-parts":[[2021,8,29]],"date-time":"2021-08-29T21:45:16Z","timestamp":1630273516000},"page":"386","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":32,"title":["The Combined Use of SLAM Laser Scanning and TLS for the 3D Indoor Mapping"],"prefix":"10.3390","volume":"11","author":[{"given":"Aino","family":"Keitaanniemi","sequence":"first","affiliation":[{"name":"Department of Built Environment, School of Engineering, Aalto University, P.O. Box 14100, 00076 Aalto, Finland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0281-9717","authenticated-orcid":false,"given":"Juho-Pekka","family":"Virtanen","sequence":"additional","affiliation":[{"name":"Department of Built Environment, School of Engineering, Aalto University, P.O. Box 14100, 00076 Aalto, Finland"},{"name":"Finnish Geospatial Research Institute FGI, Geodeetinrinne 2, 02430 Masala, Finland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Petri","family":"R\u00f6nnholm","sequence":"additional","affiliation":[{"name":"Department of Built Environment, School of Engineering, Aalto University, P.O. Box 14100, 00076 Aalto, Finland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3841-6533","authenticated-orcid":false,"given":"Antero","family":"Kukko","sequence":"additional","affiliation":[{"name":"Department of Built Environment, School of Engineering, Aalto University, P.O. Box 14100, 00076 Aalto, Finland"},{"name":"Finnish Geospatial Research Institute FGI, Geodeetinrinne 2, 02430 Masala, Finland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Toni","family":"Rantanen","sequence":"additional","affiliation":[{"name":"Department of Built Environment, School of Engineering, Aalto University, P.O. Box 14100, 00076 Aalto, Finland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9907-0516","authenticated-orcid":false,"given":"Matti","family":"Vaaja","sequence":"additional","affiliation":[{"name":"Department of Built Environment, School of Engineering, Aalto University, P.O. Box 14100, 00076 Aalto, Finland"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2021,8,28]]},"reference":[{"key":"ref_1","unstructured":"Vincent, M.L., L\u00f3pez-Menchero Bendicho, V.M., Ioannides, M., and Levy, T.E. (2017). Data Acquisition for 3D Geometric Recording: State of the Art and Recent Innovations. Heritage and Archaeology in the Digital Age: Acquisition, Curation, and Dissemination of Spatial Cultural Heritage Data, Springer International Publishing. Quantitative Methods in the Humanities and Social Sciences."},{"key":"ref_2","first-page":"133","article-title":"Preserving the Knowledge of the Past Through Virtual Visits: From 3D Laser Scanning to Virtual Reality Visualisation at the Istanbul \u00c7atalca \u0130nce\u011fiz Caves","volume":"88","author":"Kan","year":"2020","journal-title":"PFG J. Photogramm. Remote Sens. Geoinf. 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