Performance Assessment of Portable SLAM-Based Systems for 3D Documentation of Historic Built Heritage

The rapid and reliable geometric documentation of historic built heritage is a key requirement for a wide range of conservation, analysis, and risk assessment activities. In recent years, portable and wearable Simultaneous Localization and Mapping (SLAM)-based systems have emerged as efficient tools for fast 3D data acquisition, offering significant advantages in terms of operational speed, accessibility, and flexibility. This paper presents an experimental performance assessment of three portable SLAM-based mobile mapping systems applied to the 3D documentation of historic religious buildings. Two historic parish churches in the Lunigiana region (Italy) are used as case studies to evaluate the systems under real-world conditions. The analysis focuses on key performance indicators relevant to metric documentation, including georeferencing accuracy, 3D model accuracy, point cloud density and resolution, and model completeness. The results highlight the capabilities and limitations of the tested systems, showing that all instruments can efficiently capture the primary geometries of complex historic buildings, while differences emerge in terms of accuracy, data consistency, and readability of architectural details. Although the work is framed within a broader research project addressing seismic vulnerability of historic structures, this contribution specifically focuses on the experimental evaluation of SLAM-based surveying performance. The results demonstrate that portable SLAM systems provide reliable geometric datasets suitable for preliminary documentation tasks and for supporting further multidisciplinary analyses, representing a valuable resource for the rapid 3D documentation of historic built heritage.