An indoor point clouds data acquisition and application method based on the integration of indoor mobile and terrestrial laser scanning technology is proposed, in order to solve problems in data acquisition of indoor mobile mapping systems, such as some important areas but with insufficient density or missing data. Firstly, the indoor mobile mapping systems was integrated for quickly obtaining the indoor three-dimensional (3D) laser point clouds, based on the indoor localization technology combined with odometer and inertial navigation. Then, the advantages of terrestrial laser scanning technology, which is superiority on the density of the point clouds, is taken for completing data registration between the indoor mobile and terrestrial laser scanning system. The effectiveness of the proposed method is experimentally verified by 3D modeling and error analysis. The experimental results show that the method could obtain the refined point clouds data quickly and solve the problems of less data density and missing data effectively, accordingly improving the reliability and integrity of model building of indoor refined point clouds.
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