Integration of active sensors for geometric analysis of the Chapel of the Holy Shroud

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. The Chapel of the Holy Shroud, with its intricate articulation, becomes the benchmark to test an integrated protocol between a terrestrial laser scanner (TLS) and a wearable mobile laser system (WMLS) based on a SLAM approach. In order to quantify the accuracy and precision of the latter solution, several forms of comparison are proposed. For the case study the ZEB-REVO, produced and marketed by GeoSLAM, is tested. Computations of cloud-to-cloud (C2C) absolute distances, comparisons of slices and extractions of planar features are performed, using stationary laser scanner (Faro FocusS S350) 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.