Digital 3D capture and reliable reproduction of architectural features is the first and most difficult step towards defining a heritage BIM. Three-dimensional digital survey technologies, such as TLS and photogrammetry, enable experts to scan buildings with a new level of detail. Challenges in the tracing of parametric objects in a TLS point cloud include the reconstruction of occluded parts, measurement of uncertainties relevant to surface reflectivity, and edge detection and location. In addition to image-based techniques being considered cost effective, highly flexible, and efficient in producing a high-quality 3D textured model, they also provide a better interpretation of surface linear characteristics. This article addresses an architecture survey workflow using photogrammetry and TLS to optimize a point cloud that is sufficient for a reliable HBIM. Fusion-based workflows were proposed during the recording of two heritage sites—the Matbouli House Museum in Historic Jeddah, a UNESCO World Heritage Site; and Asfan Castle. In the Matbouli House Museum building, which is rich with complex architectural features, multi-sensor recording was implemented at different resolutions and levels of detail. The TLS data were used to reconstruct the basic shape of the main structural elements, while the imagery’s superior radiometric data and accessibility were effectively used to enhance the TLS point clouds for improving the geometry, data interpretation, and parametric tracing of irregular objects in the facade. Furthermore, in the workflow that is considered to be the ragged terrain of the Castle of Asfan, here, the TLS point cloud was supplemented with UAV data in the upper building zones where the shadow data originated. Both datasets were registered using an ICP algorithm to scale the photogrammetric data and define their actual position in the construction system. The hybrid scans were imported and processed in the BIM environment. The building components were segmented and classified into regular and irregular surfaces, in order to perform detailed building information modeling of the architectural elements. The proposed workflows demonstrated an appropriate performance in terms of reliable and complete BIM mapping in the complex structures.
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