Grand Caverns Digitally Captured Using Handheld 3D Mapping Technology

A research team from James Madison University (JMU) has completed a groundbreaking geospatial survey of Grand Caverns in Virginia, the oldest continuously operating show cave in the United States. For the first time, the cavern’s largest chamber has been fully documented as a high-resolution 3D digital model.

Grand Caverns has welcomed visitors since 1806 and remains a significant natural and historical landmark. Known for its dramatic formations and surrounding trail systems, the site represents more than two centuries of tourism and geological interest. The recent 3D mapping initiative adds a modern layer to the cave’s long history.

The project was led by Angel A. Garcia Jr., assistant professor of Geology and Environmental Science at JMU, together with a group of undergraduate students. The team employed the GeoSLAM ZEB Horizon, a handheld mobile LiDAR scanner, to collect spatial data throughout the cave environment.

Capable of capturing up to 300,000 points per second, with millimeter-level accuracy and a scanning range reaching 100 meters, the device recorded the entire cave system in just over twelve minutes. Unlike conventional survey equipment, the ZEB Horizon uses Simultaneous Localization and Mapping (SLAM) technology, allowing data capture in environments where GPS signals are unavailable—making it particularly well suited for underground mapping.

After acquisition, the point cloud data was processed using GeoSLAM Hub and analyzed with GeoSLAM Draw. The resulting datasets are being used for a variety of purposes, including measuring speleothem growth, assessing human impact, producing 3D-printed cave models, and supporting long-term geoheritage documentation.

The mobile “walk-and-scan” approach also provided valuable educational benefits. Students were able to directly apply classroom theory to a real-world geospatial project, gaining hands-on experience without the need for extensive surveying backgrounds or complex equipment setup.

Over the summer months, the research team continued scanning additional sections of the cave. Professor Garcia Jr. is now collaborating with experienced cavers to map previously inaccessible passages. These narrow and uneven areas, not open to the public, can be surveyed safely and efficiently thanks to the scanner’s lightweight, fully mobile design.

Reflecting on the project, Garcia Jr. noted that cave environments pose unique challenges for traditional laser scanning systems. In contrast, handheld LiDAR offers a flexible and accessible alternative that lowers technical barriers while maintaining data quality—making it an ideal solution for both research and education.