Comparison of mobile laser scanning systems for component-based scan-to-BIM evaluation: NavVis VLX2, XGRIDS L2 Pro, and XGRIDS K1

Abstract. Mobile SLAM-based laser scanning is an efficient alternative to static capture. Using publicly available point clouds from a practical comparison, this study evaluates three different devices (NavVis VLX2, XGRIDS L2 Pro, and XGRIDS K1) in terms of their scan quality. The aim of the study is to conduct a scientifically sound and component-related evaluation of mobile laser scanning systems. To this end, the NavVis VLX2, XGRIDS L2 Pro, and XGRIDS K1 systems are compared using defined criteria based on established scan-to-BIM evaluation standards. The point clouds used as a basis were captured under identical conditions, enabling a direct comparison of quality. Six parameters were used for the evaluation: total score, geometric completeness and accuracy, object recognizability, intensity, deviations, and noise.Results: NavVis VLX2 confirms its status as a mature device with consistent quality. Based on the available comparative data, XGRIDS L2 Pro is technically and economically promising—RTK integration, local processing, and higher point density. The compact XGRIDS K1 is suitable for smaller scenarios but is limited in terms of range and homogeneity.Since peer-reviewed evidence on XGRIDS is still scarce, this work contributes to the systematic evaluation of raw data based on defined criteria. It also provides a solid foundation for rigorous, component-oriented benchmarking of mobile laser scanning systems and supports researchers and practitioners in selecting suitable technologies.