In the last decade, RGB-D cameras - also called range imaging cameras - have known a permanent evolution. Because of their limited cost and their ability to measure distances at a high frame rate, such sensors are especially appreciated for applications in robotics or computer vision. The Kinect v1 (Microsoft) release in November 2010 promoted the use of RGB-D cameras, so that a second version of the sensor arrived on the market in July 2014. Since it is possible to obtain point clouds of an observed scene with a high frequency, one could imagine applying this type of sensors to answer to the need for 3D acquisition. However, due to the technology involved, some questions have to be considered such as, for example, the suitability and accuracy of RGB-D cameras for close range 3D modeling. In that way, the quality of the acquired data represents a major axis. In this paper, the use of a recent Kinect v2 sensor to reconstruct small objects in three dimensions has been investigated. To achieve this goal, a survey of the sensor characteristics as well as a calibration approach are relevant. After an accuracy assessment of the produced models, the benefits and drawbacks of Kinect v2 compared to the first version of the sensor and then to photogrammetry are discussed.

Surveying fields from geosciences to infrastructure monitoring make use of a wide range of instruments for accurate 3D geometry acquisition. In many cases, the Terrestrial Laser Scanner (TLS) tends to become an optimal alternative to total station measurements thanks to the high point acquisition rate it offers, but also to ever deeper data processing software functionalities. Nevertheless, traditional surveying techniques are valuable in some kinds of projects. Nowadays, a few modern total stations combine their conventional capabilities with those of a laser scanner in a unique device. The recent Trimble SX10 scanning total station is a survey instrument merging high-speed 3D scanning and the capabilities of an image-assisted total station. In this paper this new instrument is introduced and first compared to state-of-the-art image-assisted total stations. The paper also addresses the topic of various laser scanning projects and the delivered point clouds are compared with those of other TLS. Directly and indirectly georeferenced projects have been carried out and are investigated in this paper, and a polygonal traverse is performed through a building. Comparisons with the results delivered by well-established survey instruments show the reliability of the Trimble SX10 for geodetic work as well as for scanning projects.

Keywords: Handheld 3D scanner, FARO Freestyle3D, Digitization of small objects, Performance evaluation, Comparisons, Archeological artefacts Handheld 3D scanners can be used to complete large scale models with the acquisition of occluded areas or small artefacts. This may be of interest for digitization projects in the field of Cultural Heritage, where detailed areas may require a specific treatment. Such sensors present the advantage of being easily portable in the field, and easily usable even without particular knowledge. In this paper, the Freestyle^3D handheld scanner launched on the market in 2015 by FARO is investigated. Different experiments are described, covering various topics such as the influence of range or color on the measurements, but also the precision achieved for geometrical primitive digitization. These laboratory experiments are completed by acquisitions performed on engraved and sculpted stone blocks. This practical case study is useful to investigate which acquisition protocol seems to be the more adapted and leads to precise results. The produced point clouds will be compared to photogrammetric surveys for the purpose of their accuracy assessment.

The use of Terrestrial Laser Scanner (TLS) tends to become a solution in many research areas related to large scale surveying. Meanwhile, the technological advances combined with the investigation of user needs have brought to the design of innovative devices known as scanning total stations. Such instruments merge in a unique hardware both scanning and surveying facilities. Even if their scanning rate is often reduced compared to conventional TLS, they make it possible to directly georeference laser scanning projects and to complete them with measurements of individual points of interest. The recent Trimble SX10 which was launched on the market in early October 2016 has been tested and some experiences carried out with it are reported in this paper. The analyses mainly focus on the survey of a building facade. Next to laser scanning survey, a photogrammetry campaign using an Unmanned Aerial Vehicle (UAV) has been carried out. These different datasets are used to assess the Trimble SX10 issued point clouds through a set of comparisons. Since georeferencing is possible either directly or indirectly using this device, data processed both ways are also compared to conclude about the more reliable method.