The research potential in the field of mobile mapping technologies is often hindered by several constraints. These include the need for costly hardware to collect data, limited access to target sites with specific environmental conditions or the collection of ground truth data for a quantitative evaluation of the developed solutions. To address these challenges, the research community has often prepared open datasets suitable for developments and testing. However, the availability of datasets that encompass truly demanding mixed indoor–outdoor and subterranean conditions, acquired with diverse but synchronized sensors, is currently limited. To alleviate this issue, we propose the MIN3D dataset (MultI-seNsor 3D mapping with an unmanned ground vehicle for mining applications) which includes data gathered using a wheeled mobile robot in two distinct locations: (i) textureless dark corridors and outside parts of a university campus and (ii) tunnels of an underground WW2 site in Walim (Poland). MIN3D comprises around 150 GB of raw data, including images captured by multiple co-calibrated monocular, stereo and thermal cameras, two LiDAR sensors and three inertial measurement units. Reliable ground truth (GT) point clouds were collected using a survey-grade terrestrial laser scanner. By openly sharing this dataset, we aim to support the efforts of the scientific community in developing robust methods for navigation and mapping in challenging underground conditions. In the paper, we describe the collected data and provide an initial accuracy assessment of some visual- and LiDAR-based simultaneous localization and mapping (SLAM) algorithms for selected sequences. Encountered problems, open research questions and areas that could benefit from utilizing our dataset are discussed. Data are available at https://3dom.fbk.eu/benchmarks.

There is a growing need for accurate bathymetric mapping in many water-related scientific disciplines. Accurate and up-to-date data are essential for both shallow and deep areas. In this article, methods and techniques for shallow water mapping have been collected and described based on the available scientific literature. The paper focuses on three survey technologies, Unmanned Aerial Systems (UASs), Airborne Bathymetry (AB), and Satellite-Derived Bathymetry (SDB), with multimedia photogrammetry and LiDAR-based approaches as processing methods. The most popular and/or state-of-the-art image and LiDAR data correction techniques are characterized. To develop good practice in shallow water mapping, the authors present examples of data acquired by all the mentioned technologies with selected correction methods.

Mobile Mapping Technology (MMT) has evolved rapidly over the past few decades, especially in using low-cost sensors. This progress is primarily attributed to the appearance of innovative simultaneous localization and mapping (SLAM) algorithms. This article focuses on evaluating the efficiency of a new LiDAR-based portable SLAM system for mapping in dynamic real-world environments. The work proposed a technical solution based on a Livox Avia LiDAR sensor enhanced by gimbal stabilization. The system, named Portable Livox-based Mapping system (PoLiMap), is compared to other similar solutions by acquiring data from various environments, including urban sceneries, underground tunnels and forested areas, and processing them using a modified FAST-LIO-SLAM algorithm. The research presented in the article contributes to the understanding of the capabilities of PoLiMap systems under various conditions and offers significant insight into its potential applications. Accuracy evaluation results prove that the proposed MMT system can successfully tackle various demanding environments and challenge the results of other more costly state-of-the-art portable mobile laser scanning methods.

The correct estimation of earth pressure is important for the design of earth retaining structures and depends, among others, on the surface morphology of retaining structures. The diaphragm wall created as a protection of a deep excavation located in an urbanized area was selected as a research object. Terrestrial Laser Scanning (TLS) was used for the investigation of the unique surface (in real-world dimension) obtained by tremieying the concrete in different soil layers. An original and innovative procedure for concrete surface description was developed, which includes steps from the TLS measurement to the determination of the roughness parameters. The tested samples from anthropogenic soil, medium sand, and sandy gravel, map the real diaphragm wall surface. The surface roughness parameters in different soil layers were compared with the reference surface obtained by cast against steel formwork. The following parameters: Sa, Sdr, and Vmc are indicated as being the most useful in numerical description of the concrete surface type and in allowing the determination of the soil surface friction. The novelty of this study is the estimation of the parameter δ (friction angle between the retaining wall surface and the soil), which is, among others, a function of the wall surface roughness. The influence of the type of surface on earth pressure are generally recognized in laboratory tests. Based on the estimated in situ values of δ, the more reliable active and passive pressure coefficients K_a, K_p were calculated for the tested soil layers. The conducted study has a practical significance for designing of retaining construction and makes progress in determination of surface roughness required in Eurocode 7.

Underground and opencast mining adversely affects the surrounding environment. This process may continue even decades after the end of actual mineral extraction. One of the most significant effects of ceased mining are secondary deformations. Safe, new development of post-mining areas requires reliable information on potential deformation risk zones, which may be difficult to obtain due to a lack of necessary data. This study aimed to investigate and understand the secondary deformation processes in the underground mining area of the former “Babina” lignite mine, located in the unique glaciotectonic environment of the Muskau Arch, in western Poland. A combination of GIS-based historical mapping, geophysical 2D/3D microgravimetry, and Electrical Resistivity Tomography (ERT) measurements allowed the identification of subsidence-prone areas and the determination of potential factors of sinkhole development. The latter are associated with anthropogenic transformation of rock mass and hydrogeological conditions, by shallow underground mining. The results confirmed that multi-level mining of coal deposits in complex and complicated glaciotectonic conditions cause discontinuous deformations, and may be hazardous as long as 50 years after the end of mining operations.