Automatic 2D and 3D models reconstruction in a pre-historical cave during robot inspection

Latest technological solution that allow remote inspection of the treasures of a cave and reconstruct 2D and 3D models of interesting areas of the environment is discussed. The solution uses a mobile robot that can autonomously navigate the cave, acquire, and send information to a remote console. The robot constructs 2D map of the environment using data coming from the on-board laser range scanner and builds the 3D model of some zones that are rich in wall painting using a computer vision technique. The application of the solution is advantageous as it can be used without installing particular infrastructures in the site minimizing the risk of damaging the cave.