UAS photogrammetry and SLAM for the HBIM model of the Montanaro Belltower

Uncrewed Aerial Systems (UAS) are nowadays a consolidated technique for the 3D metric documentation of Built Heritage. Nevertheless, a complete survey of complex heritage assets still requires the integration of different techniques, using a multisensor and multiscale approach. The research presented in this contribution relates a documentation experience achieved on a complex heritage asset, from multisensor data acquisition, through data processing and validation to the phase of 3D modeling and HBIM creation.