3D integration of orthophoto mapping and Terrestrial Laser Scanning of the ground surface and underground caverns

Obtaining three-dimensional data for the surface and underground cavities is a complex task that includes using scanning systems to collect accurate data, as well as their processing. In recent years, Unmanned Aerial Systems (UAS) have been very successfully used for capturing geospatial data for ground surface and orthophoto mapping. On the other hand, the use of UAS for underground scanning is a difficult task due to the limited spaces, the lack of GNSS coverage and the low level of illumination in underground terrains. In this regard, the use of Terrestrial Laser Scanning (TLS) is crucial. This work looks for intersection between these two types of scanning systems (UAS as a system for scanning the earth's surface and LiDAR as a system for scanning underground surfaces) considered in the context of studying cavities and the ground surface above them as well as the possibilities for integration of data obtained from them.