Abstract: A system for georeferencing three-dimensional (3D) geometric data associated with a global positioning system (GPS)-denied environment. The system includes an apparatus couplable to a mobile platform and a computing system communicably couplable with the apparatus. The apparatus includes a processing circuit and a range sensor and/or a camera. The computing system includes a 3D generator module configured to generate a digital 3D model of the GPS-denied environment based on data acquired by the range sensor and/or the camera, a 3D survey control generator module configured to identify a survey control point within the GPS-denied environment and generate a 3D digital anchor within the 3D model of the GPS-denied environment, a georeferencing module configured to apply one or more non-rigid transformations to the 3D model of the GPS-denied environment, and a second processing circuit communicably couplable with the 3D generator module, the 3D survey control generator module and the georeferencing module.

Abstract: A system for measuring geometric change in a subterranean structure. The system includes an apparatus communicably couplable to a computing system. The apparatus is couplable to a mobile platform and includes a sensor configured to acquire data representative of a geometry of the subterranean structure and/or a camera configured to capture images of an interior of the subterranean structure, and a processing circuit. The computing system includes at least one processor, a 3D generator module configured to generate a digital three-dimensional model of the subterranean structure, an anchor module configured to define a plurality of digital anchors associated with the subterranean structure; a movement determination module configured to determine a movement of at least one of the digital anchors, and a movement classification module configured to determine a type of movement within the subterranean structure based on the determined movement of the at least one of the digital anchors.