Enhancing Conventional Land Surveying for Cadastral Documentation in Romania with UAV Photogrammetry and SLAM

This study presents an integrated surveying methodology for efficient and accurate cadastral documentation, combining UAV photogrammetry, SLAM-based terrestrial and aerial scanning, and conventional geodetic measurements. Designed to be scalable across various cadastral and planning contexts, the workflow was tested in Charlottenburg, Romania&rsquo:s only circular heritage village. The approach addresses challenges in built environments where traditional total station or GNSS techniques face limitations due to obstructed visibility and complex architectural geometries. The SLAM system was initially deployed in mobile scanning mode using a backpack configuration for ground-level data acquisition, and was later mounted on a UAV to capture building sides and areas inaccessible from the main road. The results demonstrate that the integration of aerial and terrestrial data acquisition enables precise building footprint extraction, with a reported RMSE of 0.109 m between the extracted contours and ground-truth total station measurements. The final cadastral outputs are fully compatible with GIS and CAD systems, supporting efficient land registration, urban planning, and historical site documentation. The findings highlight the method&rsquo:s applicability for modernizing cadastral workflows, particularly in dense or irregularly structured areas, offering a practical, accurate, and time-saving solution adaptable to both national and international land administration needs. Beyond the combination of known technologies, the innovation lies in the practical integration of terrestrial and aerial SLAM (dual SLAM) with RTK UAV workflows under real-world constraints, offering a field-validated solution for complex cadastral scenarios where traditional methods are limited.