Nowadays, the use of advanced sensors, such as terrestrial 3D laser scanners, mobile LiDARs and Unmanned Aerial Vehicles (UAV) photogrammetric imaging, has become the prevalent practice for 3D Reality Modeling and digitization of large-scale monuments of Cultural Heritage (CH). In practice, this process is heavily related to the expertise of the surveying team, handling the laborious planning and time-consuming execution of the 3D mapping process that is tailored to the specific requirements and constraints of each site. To minimize human intervention, this paper introduces a novel methodology for autonomous 3D Reality Modeling for CH monuments by employing au-tonomous biomimetic quadrupedal robotic agents and UAVs equipped with the appropriate sensors. These autonomous robotic agents carry out the 3D RM process in a systematic and repeatable ap-proach. The outcomes of this automated process may find applications in digital twin platforms, facilitating secure monitoring and management of cultural heritage sites and spaces, in both indoor and outdoor environments.

翻译：如今，地面三维激光扫描仪、移动激光雷达及无人机摄影测量成像等先进传感器的应用，已成为大规模文化遗产遗址三维现实建模与数字化的主流实践。实际上，该流程高度依赖测量团队的专业能力，需根据各遗址的具体要求与限制条件，手工完成耗时费力的三维测绘规划与执行。为最大限度减少人工干预，本文提出了一种面向文化遗产建筑的自主三维现实建模新方法，通过配备相应传感器的仿生四足自主机器人代理与无人机协同作业，以系统化、可重复的方式执行三维现实建模流程。该自动化流程的成果可应用于数字孪生平台，助力实现文化遗产遗址及空间（涵盖室内外环境）的安全监测与智慧管理。