System for navigating in cavities

An apparatus, comprising:

• a moving platform having installed thereon:
• a scanning device for obtaining three dimensional (3D) information about a cavity surrounding the moving platform, the scanning device comprising a localization and mapping device and an inertial measurement unit;
• an image capture device for capturing images within the cavity;
• and
• a communication device for transmitting to a remote location the 3D information;
• a processor for receiving the information collected by the scanning device and generating a model of the cavity based on the information;
• and
• a display device adapted to display to the user a representation of the model of the cavity, a route taken by the moving platform within the cavity, or an image captured by the image capture device depicting an area corresponding to a location pointed at by a user.

A method comprising:

• receiving from a scanning device 3D information about a cavity, the scanning device comprising a localization and mapping device and an inertial measurement unit;
• generating a 2D model of the cavity based on the 3D information;
• and
• displaying in real time or near real time to a user in the vicinity of the scanning device, a view of the 2D model.