The March NSS News, now newly available to NSS members at caves.org, has an 
article about using conventional LIDAR data to survey a cave. A considerably 
easier way to do that is described in an article in the Journal of Cave and 
Karst Studies at 
https://caves.org/pub/journal/PDF/v76/cave-76-03-191.pdf .
However, the article is from Australia, and I don't know that the equipment or 
software are available in the US. -- Mixon
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