Royal Reveals: LiDAR Mapping of Kronborg Castle, Echoes of Hamlet's Halls

TL;DR

This paper introduces a comprehensive 3D LiDAR dataset of Kronborg Castle, enabling advanced research in architectural mapping, SLAM, and digital preservation of historic sites.

Contribution

The paper provides a detailed large-scale LiDAR dataset of Kronborg Castle, facilitating research in 3D mapping, structural analysis, and digital heritage preservation.

Findings

High-resolution 3D point cloud data of Kronborg Castle

Enables SLAM and floorplan generation experiments

Supports digital reconstruction of historic architecture

Abstract

This paper presents a large scale dataset from a meticulous 360-degree LiDAR (Light Detection and Ranging) scan conducted on Kronborg Castle, a renowned Renaissance fortress located in Elsinore (Helsing{\o}r), Denmark, famously associated with Shakespeare's "Hamlet." Utilising a vertical mounted, gimbal stabilised, 16 channel, 360-degree Velodyne VLP-16 LiDAR scanner, paired with an Intel RealSense L515 depth camera. This research offers an unparalleled digital representation of the castle's intricate architectural details and structural nuances, enabling fellow researchers to conduct experiments utilising the data for SLAM (Simultaneous Localisation and Mapping) as well as floorplan generation.