Tanya Slavova, Atanas Rusev, Asparuh Kamburov

Caves are natural underground spaces formed and shaped over millions of years. Usually part of bigger caverns, they give a first-hand view of water, biology, oil and other subsurface distributions as well as a glimpse of the past when they perhaps offered a shelter or sanctuary. Therefore, when exploring a cave, it is useful to not only collect geometric information such as gallery dimensions and directions but also to take photographs and notes of any specific features of interest. Since safe storage, easy management and proper representation of spatial data can be difficult using traditional methods, these are all key requirements in the search for modern solution.