Natural disasters often result in significant damage to infrastructure, generating vast amounts of debris in towns and water bodies. Timely post-disaster damage assessment is critical for enabling swift cleanup and recovery efforts. This study presents a combination of methods to efficiently estimate and analyze debris on land and on water. Specifically, analyses were conducted at Claytor Lake and Damascus, Virginia where flooding occurred as a result of Hurricane Helene on 27 September 2024. We use the Phoenix U15 motor glider equipped with the GoPro Hero 9 camera to collect aerial imagery. Orthomosaic images and 3D maps are generated using OpenDroneMap (ODM) software, version 3.5.6, providing a detailed view of the affected areas. For lake debris estimation, we employ a hybrid approach integrating machine learning-based tools and traditional techniques. Lake regions are isolated using segmentation methods, and the debris area is estimated through a combination of color thresholding and edge detection. The debris is classified based on the thickness and a volume range of debris is presented based on the data provided by the Virginia Department of Environmental Quality (VDEQ). In Damascus, debris estimation is achieved by comparing pre-disaster LiDAR data (2016) with post-disaster 3D ODM data. Furthermore, we conduct flood modeling using the Hydrologic Engineering Center’s River Analysis System (HEC-RAS) to simulate disaster impacts, estimate the flood water depth, and support urban planning efforts. The proposed methodology demonstrates the ability to deliver accurate debris estimates in a time-sensitive manner, providing valuable insights for disaster management and environmental recovery initiatives.