Underground Mapping in Baiyun Cave | GS-130G Handheld LiDAR

GS-130G Handheld LiDAR for Underground Mapping

in Baiyun Cave, Wuhan

Location: Baiyun Cave Scenic Area, Wuchang District, Wuhan, China
Application: Cave & Tunnel Mapping
Equipment Used: Geosun GS-130G Handheld/Backpack LiDAR System
Environment: Large karst cave with signal-denied zones

Project Background

Baiyun Cave is a renowned natural karst cave over 300 meters long, consisting of multiple interconnected chambers such as Baiyun Cave, Qixingtan Cave, Niubizi Cave, Huangdaoshi Cave, and Heilong Cave. Known for its complex terrain, stone carvings, and stunning stalactite formations, the cave poses significant challenges for conventional mapping technologies due to GPS signal loss and narrow passages.

Challenges

• Complex 3D structures with multi-level spaces

• No GNSS signal inside the cave

• Low-light and narrow pathways

• Requirement for high-accuracy 3D data

Solution & Workflow

Using the GS-130G SLAM LiDAR system, the team carried out a full scan of the cave interior. The handheld + backpack mode ensured flexible mobility in confined areas. Powered by Geosun’s proprietary SLAM algorithm, the system maintained accurate positioning even in complete GNSS-denied environments.

Key Specifications of GS-130G:

• Accuracy: ≤5cm

• Operating Time: 2h

• Range: 300m

• SLAM Accuracy: Horizontal ±2cm, Vertical ±3cm

• Scan Rate: 1.92 million points/sec

• Field of View: 270°/360°

• Operating Temperature: -20°C to +55°C

• Weight: 1.7kg (easy for long-duration use)

Results

The final point cloud data exhibited high density and remarkable detail, with clear restoration of:

• Narrow cave tunnels and junctions

• Stalactites, stone curtains, and rock pillars

• Interior cave textures and spatial structure

• Cultural inscriptions and natural formations

Despite the signal-denied environment, GS-130G successfully delivered precise, high-resolution 3D point clouds, demonstrating its exceptional capability in underground mapping scenarios.

Why GS-130G?

• Compact and lightweight design ideal for confined spaces

• Excellent SLAM algorithm ensures accuracy without GPS

• High scan rate and wide FOV for dense and complete point clouds

• Suitable for cave mapping, mining tunnels, indoor spaces, and more

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