Evaluation of Different LiDAR Technologies for the Documentation of Forgotten Cultural Heritage under Forest Environments

In the present work, three LiDAR technologies (Faro Focus 3D X130—Terrestrial Laser Scanner, TLS-, Kaarta Stencil 2–16—Mobile mapping system, MMS-, and DJI Zenmuse L1—Airborne LiDAR sensor, ALS-) have been tested and compared in order to assess the performances in surveying built heritage in vegetated areas. Each of the mentioned devices has their limits of usability, and different methods to capture and generate 3D point clouds need to be applied. In addition, it has been necessary to apply a methodology to be able to position all the point clouds in the same reference system. While the TLS scans and the MMS data have been geo-referenced using a set of vertical markers and sphere measured by a GNSS receiver in RTK mode, the ALS model has been geo-referenced by the GNSS receiver integrated in the unmanned aerial system (UAS), which presents different characteristics and accuracies. The resulting point clouds have been analyzed and compared, focusing attention on the number of points acquired by the different systems, the density, and the nearest neighbor distance