The aim of this study was to verify the geometric quality of point clouds obtained using SLAM laser scanning technology. The study focused on the data collection environment for the creation of building survey drawings. Static laser scanning served as the reference method for evaluating the results obtained using SLAM technology. The quality of the reference technology was verified using a set of detailed points determined terrestrially by a total station. Practical measurements were conducted at four locations, allowing for the testing of various aspects that influence the SLAM algorithm’s calculations. The process of data collection and processing using both methods was documented and described in detail. The comparison of results took place on four levels, allowing for a comprehensive understanding of the achieved data quality. Point clouds from one of the locations were vectorised into floor plans and cross-sections. Possibilities for automating the point cloud vectorisation process were also outlined. The outputs of this work focus on evaluating the benefits of handheld kinematic scanners for building surveying purposes, regarding the quality and reliability of the acquired data and the efficiency of their processing.