Three-dimensional Mobile Mapping of Caves

Existing methods of cave survey are time consuming and require significantly more time than naturally moving through the cave. The efficiency of these methods, even in the case of state-of-the-art laser-scanning technology, is fundamentally limited by the requirement that measurements be taken at static locations. We present a mobile approach to cave mapping, in which a lightweight 3D laser scanner is carried by a single operator while walking, climbing, or crawling through a cave at a natural pace. The mobility of the system means that it is straightforward and efficient to generate a high-resolution 3D map consisting of millions of points in almost any environment a human can reach. We present results demonstrating the technology in two cave systems located in different parts of Australia, what we believe are the first instances of mobile LiDAR mapping being utilized in natural caves.