Digitization approaches for urban cultural heritage : last generation MMS within Venice outdoors scenarios

This paper explores the use of Mobile Mapping Systems (MMSs) for urban Cultural Heritage (CH) documentation, which has become
an increasingly important tool in surveying for rapid and accurate mapping of both internal and external environments. The study
evaluates the performance of the STONEX® X120GO SLAM Laser Scanner, a recent commercial MMS, in documenting CH in various
outdoor applications, including urban environments and inaccessible places. The methodology was applied to three test fields in the
historic centre of Venice, which include Piazza San Marco, Santa Marta area, and the Venetian canal called Rio de le Toresele. The
STONEX® X120GO SLAM Laser Scanner is composed of a 360° rotating head LiDAR scanner, three 5MP cameras, and an Inertial
Measurement Unit (IMU) and Global Navigation Satellite System (GNSS) for geospatial 3D point cloud creation. The MMS was
evaluated in terms of time, accuracy, and point cloud resolution against other active sensors such as Terrestrial Laser Scanners (TLSs)
and spherical photogrammetry. The results suggest that the tested MMS has reached optimal levels of development, enabling highspeed data collection and providing good accuracy for significant urban CH sites. Overall, the paper highlights the importance and
potential of MMSs for CH documentation and emphasizes the need for ongoing development to optimize the management process