Low-cost mobile lidar and RTK GNSS integration for georeferenced HBIM of cultural heritage: A scan-to-BIM workflow based on multi-sensor data fusion for accuracy enhancement

This study discusses a scan-to-BIM workflow based on the integration of low-cost mobile LiDAR and RTK GNSS, focusing on cultural heritage, and compares the performance of two different portable scanning systems. An 18th-century Sibyan School was selected as a case study, managed by Mimar Sinan Fine Arts University (MSGSU), Istanbul. The study employed a viDoc RTK-enabled iPad Pro (photogrammetry + LiDAR) and a Realsee Galois M2 tripod mounted panoramic 3D LiDAR scanner. Point cloud data obtained from both systems were georeferenced with RTK GNSS control points, and their location accuracies were comparatively assessed. The generated point cloud datasets were combined using a multi-sensor data fusion approach and fed into an HBIM-based modeling process. Component geometries were analyzed for detail, data gaps, and noise. The findings indicate that the RTK-enabled viDoc method offers advantages in terms of location accuracy and level of detail, while the Realsee Galois M2 stands out for its rapid deployment, indoor coverage, and practical field use. In conclusion, the study suggests that low-cost mobile systems should be considered as part of a multi-sensor hybrid cultural heritage documentation and digital twin production strategy rather than completely replacing terrestrial laser scanning and suggests a repeatable workflow for similar projects.