Correcting laser scanning intensity recorded in a cave environment for high-resolution lithological mapping: A case study of the Gouffre Georges, France

Active remote sensing by laser scanning (LiDAR) has markedly improved the mapping of a cave environment with an unprecedented level of accuracy and spatial detail. However, the use of laser intensity simultaneously recorded during the scanning of caves remains unexplored despite it having promising potential for lithological mapping as it has been demonstrated by many applications in open-sky conditions. The appropriate use of laser intensity requires calibration and corrections for influencing factors, which are different in caves as opposed to the above-ground environments. Our study presents an efficient and complex workflow to correct the recorded intensity, which takes into consideration the acquisition geometry, micromorphology of the cave surface, and the specific atmospheric influence previously neglected in terrestrial laser scanning. The applicability of the approach is demonstrated on terrestrial LiDAR data acquired in the Gouffre Georges, a cave located in the northern Pyrenees in France. The cave is unique for its geology and lithology allowing for observation, with a spectacular continuity without any vegetal cover, of the contact between marble and lherzolite rocks and tectonic structures that characterize such contact. The overall accuracy of rock surface classification based on the corrected laser intensity was over 84%. The presence of water or a wet surface introduced bias of the intensity values towards lower values complicating the material discrimination. Such conditions have to be considered in applications of the recorded laser intensity in mapping underground spaces. The presented method allows for putting geological observations in an absolute spatial reference frame, which is often very difficult in a cave environment. Thus, laser scanning of the cave geometry assigned with the corrected laser intensity is an invaluable tool to unravel the complexity of such a lithological environment.