**Management/administration**

The sensor data are loaded and stored persistently in a database. The access is via defined interfaces. All changes to the data are stored individually. As a result, work steps and results are stored together consistently.

#### **Algorithm processing**

The algorithms for filtering the sensor data, the registration tree of the 3D point clouds, the creation of the 3D map and the further processing of the map are defined and developed with mapit.

<sup>2</sup> https://github.com/MASKOR/mapit.

*A System for Continuous Underground Site Mapping and Exploration DOI: http://dx.doi.org/10.5772/intechopen.85859*
