3D laser scanning and photogrammetric 3D reconstruction generate point clouds from which the geometry of BIM models can be created. However, a few methods do this automatically for concrete architectural elements, but in no case for the entirety of heritage assets. A novel procedure for the automatic recognition and parametrization of non-planar surfaces of heritage immovable assets is presented using point clouds as raw input data. The methodology is able to detect the most relevant architectural features in a point cloud and their interdependences through the analysis of the intersections of related elements. The non-planar surfaces detected, mainly cylinders, are studied in relation to the neighbouring planar surfaces present in the cloud so that the boundaries of both the planar and the non-planar surfaces are accurately defined. The procedure is applied to the emblematic Castle of Torrelobatón, located in Valladolid (Spain) to allow the cataloguing of required elements, as illustrative example of the European defensive architecture from the Middle age to the Renaissance period. Results and conclusions are reported to evaluate the performance of this approach.
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