Registration Strategy of Handheld Scanner (HS) and Terrestrial Laser Scanner Integration for Building Utility Mapping

Abstract Currently, the need for a 3D model that represents existing condition of building is needed, especially management. While performed mapping utilities such as pipelines in buildings, Terrestrial Laser Scanner (TLS) technology couldn’t cover object ceiling, so Handheld (HS) was used to complete scanned objects. The purpose this article conducting process between HS and TLS pipelines. integration two different sensor resolutions scan coverage requires separate strategy generate models pipeline objects building. use specific target transformation method could do registration set point clouds which obtained by technologies. object, spherical usually tie results process, cannot be recorded HS. targets were pasted on order captured become process. Meanwhile, using Iterative Closest Point (ICP) algorithm carried out because not meet overlap percentage standard, would result accuracy 0.062 m.