Towards 3D Cave Mapping with UAVs

Cave mapping is far beyond surface mapping technologies because of the rugged terrain and the limited availability of sensors (for example, no GPS). Most of the existing maps were hand-drawn and are inaccurate. The mapping technologies are outdated or require expensive tools, or they are too complicated to use by anyone. For this, we propose a drone-based system where with the use of its basics sensors and laser range finders, and monocular cameras, we will be able to create 3D maps in real-time.