000168016 001__ 168016
000168016 005__ 20260123152958.0
000168016 0247_ $$2doi$$a10.3390/drones10010073
000168016 0248_ $$2sideral$$a147628
000168016 037__ $$aART-2026-147628
000168016 041__ $$aeng
000168016 100__ $$0(orcid)0000-0003-3854-2158$$aAngás, J.
000168016 245__ $$aCave of Altamira (Spain): UAV-Based SLAM Mapping, Digital Twin and Segmentation-Driven Crack Detection for Preventive Conservation in Paleolithic Rock-Art Environments
000168016 260__ $$c2026
000168016 5060_ $$aAccess copy available to the general public$$fUnrestricted
000168016 5203_ $$aThe Cave of Altamira (Spain), a UNESCO World Heritage site, contains one of the most fragile and inaccessible Paleolithic rock-art environments in Europe, where geomatics documentation is constrained not only by severe spatial, lighting and safety limitations but also by conservation-driven restrictions on time, access and operational procedures. This study applies a confined-space UAV equipped with LiDAR-based SLAM navigation to document and assess the stability of the vertical rock wall leading to “La Hoya” Hall, a structurally sensitive sector of the cave. Twelve autonomous and assisted flights were conducted, generating dense LiDAR point clouds and video sequences processed through videogrammetry to produce high-resolution 3D meshes. A Mask R-CNN deep learning model was trained on manually segmented images to explore automated crack detection under variable illumination and viewing conditions. The results reveal active fractures, overhanging blocks and sediment accumulations located on inaccessible ledges, demonstrating the capacity of UAV-SLAM workflows to overcome the limitations of traditional surveys in confined subterranean environments. All datasets were integrated into the DiGHER digital twin platform, enabling traceable storage, multitemporal comparison, and collaborative annotation. Overall, the study demonstrates the feasibility of combining UAV-based SLAM mapping, videogrammetry and deep learning segmentation as a reproducible baseline workflow to inform preventive conservation and future multitemporal monitoring in Paleolithic caves and similarly constrained cultural heritage contexts.
000168016 540__ $$9info:eu-repo/semantics/openAccess$$aby$$uhttps://creativecommons.org/licenses/by/4.0/deed.es
000168016 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/publishedVersion
000168016 700__ $$0(orcid)0000-0002-2841-3347$$aBea, M.$$uUniversidad de Zaragoza
000168016 700__ $$0(orcid)0009-0009-4180-0753$$aValladares, C.$$uUniversidad de Zaragoza
000168016 700__ $$0(orcid)0000-0002-3359-6213$$aIranzo, C.$$uUniversidad de Zaragoza
000168016 700__ $$0(orcid)0000-0002-0342-0225$$aRuiz, G.
000168016 700__ $$aFatás, P.
000168016 700__ $$ade las Heras, C.
000168016 700__ $$aSánchez-Carro, M. Á.
000168016 700__ $$aBruschi, V.
000168016 700__ $$aPrada, A.
000168016 700__ $$aDíaz-González, L. M.
000168016 7102_ $$13000$$2033$$aUniversidad de Zaragoza$$bDpto. Ciencias de la Antigüed.$$cÁrea Arqueología
000168016 7102_ $$13000$$2695$$aUniversidad de Zaragoza$$bDpto. Ciencias de la Antigüed.$$cÁrea Prehistoria
000168016 7102_ $$13006$$2010$$aUniversidad de Zaragoza$$bDpto. Geograf. Ordenac.Territ.$$cÁrea Análisis Geográfico Regi.
000168016 773__ $$g10, 73 (2026), [35 pp.]$$pDrones (Basel)$$tDrones (Basel)$$x2504-446X
000168016 8564_ $$s10811568$$uhttps://zaguan.unizar.es/record/168016/files/texto_completo.pdf$$yVersión publicada
000168016 8564_ $$s2327839$$uhttps://zaguan.unizar.es/record/168016/files/texto_completo.jpg?subformat=icon$$xicon$$yVersión publicada
000168016 909CO $$ooai:zaguan.unizar.es:168016$$particulos$$pdriver
000168016 951__ $$a2026-01-23-14:33:28
000168016 980__ $$aARTICLE