This.study.aims.to.evaluate.the.practicality.and.measurement.accuracy.of.a.handheld.LiDAR.system.in.a.narrow.and.low-light. cave. environment,. focusing. on. Kura. Cave. located. on. Iriomote. Island,. Okinawa,. Japan.. Conventional. terres-trial.laser.scanners(TLS)often.face.limitations.in.cave.surveys.due.to.installation.constraints.and.restricted.line-of-sight. conditions.. In. contrast,. the. portable. LiDAR. system. enabled. continuous. acquisition. of. high-density. three-dimen-sional.point.clouds.within.the.cave.interior,.allowing.detailed.visualization.of.its.spatial.structure.. .The. relative. coordinates. obtained. through. SLAM(Simultaneous. Localization. and. Mapping)were. transformed. into.an.absolute.coordinate.system.using.RTK-GNSS.control.points.and.a.Helmert.transformation..Accuracy.was.evaluat-ed.based.on.the.RMS.error.after.transformation..Both.single-direction.scans.without.loop.closure.and.loop-closure.tra-jectory. scans. were. analyzed.. The. results. indicate. that. RMS. errors. of. approximately. 5.5.cm. were. achieved. in. open-sky. conditions,. while. errors. of. approximately. 9.cm. were. obtained. in. the. narrow. cave. environment.. These. findings.demonstrate.that.practical.centimeter-level.accuracy.can.be.maintained.even.under.long-distance,.non-closed.trajecto-ry. conditions.. Under. loop-closure. conditions,. larger. transformation. errors. were. observed,. suggesting. that. trajectory.length.and.control-point.configuration.influence.the.final.accuracy.and.that.further.optimization.of.SLAM.processing.and.coordinate.transformation.is.required.. .Furthermore,.integration.with.UAV-based.aerial.photogrammetry.enabled.construction.of.a.unified.three-dimensional.model.from.the.cave.interior.to.the.ground.surface..The.results.demonstrate.that.handheld.LiDAR.provides.an.effec-tive,.non-contact,.and.non-destructive.method.for.high-resolution.3D.documentation.in.confined.environments,.comple-menting.TLS.approaches.and.offering.potential.applications.in.environmental.conservation,.geomorphological.monitor-ing,.and.cultural.heritage.archiving.
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