
Archived are LiDAR data collected at Lava Beds National Monument by the NASA funded TUBEX project (Dr. Kelsey Young – PI) and the “LiDAR-Team” in 2017 and 2018. The LiDAR team was led by Dr. Patrick Whelley, and included Drs. W. Brent Garry and Jacob Richardson as well as the rest of the TUBEX Team. 

LiDAR data was captured using a Riegl VZ-400 tripod mounted terrestrial laser scanner. 
Outside of the tube, the tripod was set up such that the scanner was between 1.5 and 2.5 m tall. 
Inside the tube the tripod was sometimes as short as 0.5 m.
Geometric control was achieved using a pair of Trimble RB GPS antennae, one mounted on the LiDAR scanner (rover) and the other setup as a base station. 
In outside scans, before taking a LiDAR scan, the VZ-400 would use the GPSs to fix a real time kinematic (RTK) solution for the scanner’s location and then use that position (scan position) as a reference for LiDAR returns. 
Scan Positions were determined for in-tube scans (where GPS lock is not possible) in post processing by ensuring there was significant overlap between scans taken with GPS information and scans inside the mouth of a tube. 
Post processing was done using RIScan-Pro version 2 (scanner specific software). Also, in post-processing, overlapping areas of point clouds were merged and inaccuracies in roll, pitch and yaw, were resolved using a multi station adjustment routine and the data were projected in UTM coordinates.

The point cloud is georeferenced and projected in UTM Zone 10 North.


All data are within a bounding box with the following WGS84 corner point coordinates:
-121.514573, 41.731567, -121.503133, 41.730370.


Files used in this analysis with, down-sampled 10-cm point spacing using CloudCompare, are as follows:

CloudCompare reference:
Girardeau-Montaut, D. (2016). CloudCompare. Presented at the France: EDF R&D Telecom, Paris Tech. Retrieved from http://pcp2019.ifp.uni-stuttgart.de/presentations/04-CloudCompare_PCP_2019_public.pdf


Incline Cave files:
Surface topography: LiDAR_InclineCave_OUTSIDE_TLS_UTMz10_10cmCC_CutA_CSF02_20200221.txt
Internal tube geometry: LiDAR_InclineCave_TUBE_TLS_UTMz10_10cmCC_CutA20200221.txt


Skull Cave files:
Surface topography: LiDAR_SkullCave_OUTSIDE_CutDspc_1_skull_v1_UTM_BE_Cloud.txt
Internal tube geometry: LiDAR_SkullCave_TUBE_CutDspc_1_skull_v1_UTM_Tube_1cm_clean_Cloud.txt


Ship Cave files:
Surface topography: LiDAR_ShipCave_OUTSIDE_Marina_2cm_UTM_OUTSIDE_Ship_CutA_CSF02_20200221.txt
Internal tube geometry: LiDAR_ShipCave_TUBE_Marina_2cm_UTM_TUBE_Ship_CutA_20200221.txt



Columns contained within these files are defined with the following data for a UTM Zone 10 North:
% column 1: Easting
% column 2: Northing
% column 3: elevation (m)
% column 4 thru 8: scanner data not required for plotting the cloud point locations


Authors:
Whelley, Patrick
Garry, W. Brent
Young, Kelsey
Richardson, Jacob
Bell, Ernest


UMD DRUM Collections:
GEODES Data
UMD Data Collection
