3D cave mapping with handheld and terrestrial laser scanning

Author: Tommaso Santagata

在意大利北部，在雷吉奥·埃米利亚（Reggio Emilia）的阿本尼（Apennine）地区是“塔娜·德拉·穆西纳（Tana Della Mussina）”，这是一个以盖塔诺·基里奇（Gaetano Chierici）在1872年发掘中发现的考古文物而闻名的洞穴。作为当地洞穴小组的研究项目的一部分 -GSPGC- 虚拟地理机构Vigea最近3D使用了该洞穴系统的入口部分Leica BLK2GO, a handheld imaging laser scanner.

Mobile scanning allowed a team led by Tommaso Santagata from Vigea to map more of the cave than in previous surveys, thanks to the equipment’s smaller size, lighter weight and fast scanning speeds. This technique has the potential to allow cave researchers to capture 3D detail in challenging sites.

3D mapping the Tana della Mussina

该项目由GSPGC洞穴组和FSRER洞穴协会。自1967年以来，GSPGC一直对意大利和国际地下世界进行探索，研究和研究。该小组发现并探索了许多洞穴，通常是相当大的发展和深度。他们与大多数意大利的Speleological（Cave研究）小组一起参加了许多探索性和研究合作。

The Tana della Mussina is part of the Cà Speranza-Mussina cave system, which itself is part of the Messinian gypsum (dated between 5.6 and 6 million years old). The gypsum developed with a series of discontinuous chalky outcrops characterised by the presence of several sinkholes, in many cases occluded by landslides of clay and marl, which drain the surface waters feeding karst systems. Karst is an area of land formed of soluble rocks such as limestone, dolomite, and gypsum. Gaetano Chierici’s excavation of the cave in 1872 found human remains from the Aeneolithic period (third millennium BC) and ceramic, flint and copper artefacts.

Terrestrial Laser Scanning vs mobile mapping in cave systems

陆地激光扫描（TLS）仪器越来越多地用于3D地图自然和人工洞穴进行研究，提供了高度准确的细节。但是，并非总是可以创建完整的地图。地下环境本质上是具有挑战性的，通过狭窄和低通道可能难以进入，可能含有高水位，其寒冷温度使研究变得困难。

“有时使用需要三脚架的激光扫描仪有局限性，或者在困难的位置安全工作，从而损害了3D扫描一些完整的洞穴环境的可能性。手持式成像激光扫描仪是较新的仪器，可以在步行时提供3D点云。由于可能更舒适地移动并在更快的时候检测到，这种技术可以用于几乎完全捕获洞穴系统。” Santagata解释说。

Testing the BLK2GO handheld imaging scanner in Tana della Mussina

As part of the GSPGC and FSRER project, Tana della Mussina was the object of 3D scanned surveys in 2019 and 2020. In the first survey, the cave was 3D scanned using aLeica ScanStation P40survey-grade, high-definition 3D laser scanning solution and the BLK2GO, a handheld, wireless, and lightweight imaging laser scanner. The data acquired was processed to create topographic maps. In June 2020, the BLK2GO scanner was tested with the objective to 3D scan the same part of the cave already mapped in the previous campaign.

Santagata解释了映射过程：“与惯性测量单元（IMU）集成在一起，BLK2GO允许我们进入3D地图并获取RGB数据信息以获得彩色的3D点云。当您移动时，BLK2GO将重新创建3D空间。与iPhone配对并使用Leica Geosystems的专用应用程序，它使我们能够实时查看结果的预览并控制乐器，并可能获取照片并添加在导出点云中查看的地理标签。”

洞穴扫描的未来 - 结合自由和高清工具

Santagata反思了该项目的成功以及在洞穴场景中移动映射的潜力，“ 3D激光扫描技术中的新创新可以带来斑方学的进展，尤其是通过使用便携式映射系统。诸如BLK2GO之类的手持移动映射工具能够从传统的激光扫描仪系统（可以保证更精确和更高的定义）中获取不同的细节，从而使我们能够在具有更多自由的地下环境中检测到3D。”

And crucially, through the integration of different systems, it is possible to obtain greater detail in the areas of interest using a terrestrial laser scanner and get a rapid global mapping of the environment in a short time with handheld systems - an ideal result.”

Explore the projects in 3D:
Test in Cave
Data Elaboration Inside来自Valerio Brunelli
数据详细说明来自Valerio Brunelli

关键人物参与project: Tommaso Santagata (Vigea - Virtual Geographic Agency), Valerio Brunelli (Leica Geosystems Italy) and Stefano Bergianti (Gruppo Speleologico Paletnologico Gaetano Chierici di Reggio Emilia).

进一步阅读：
DE WAELE, J., FABBRI, S., SANTAGATA, T., CHIARINI, V., COLUMBU, A., PISANI, L.(2018)石膏洞中使用陆生激光扫描和3D摄影测量法（意大利Emilia Romagna）中的几何形态和棘突遗传学观测。地貌学，319, 47-61.