This paper presents a framework for mapping underwater caves. Underwater caves are crucial for fresh water resource management, underwater archaeology, and hydrogeology. Mapping the cave's outline and dimensions, as well as creating photorealistic 3D maps, is critical for enabling a better understanding of this underwater domain. In this paper, we present the mapping of an underwater cave segment (the catacombs) of the Devil's Eye cave system at Ginnie Springs, FL. We utilized a set of inexpensive action cameras in conjunction with a dive computer to estimate the trajectories of the cameras together with a sparse point cloud. The resulting reconstructions are utilized to produce a one-dimensional retract of the cave passages in the form of the average trajectory together with the boundaries (top, bottom, left, and right). The use of the dive computer enables the observability of the z-dimension in addition to the roll and pitch in a visual/inertial framework (SVIn2). In addition, the keyframes generated by SVIn2 together with the estimated camera poses for select areas are used as input to a global optimization (bundle adjustment) framework -- COLMAP -- in order to produce a dense reconstruction of those areas. The same cave segment is manually surveyed using the MNemo V2 instrument, providing an additional set of measurements validating the proposed approach. It is worth noting that with the use of action cameras, the primary components of a cave map can be constructed. Furthermore, with the utilization of a global optimization framework guided by the results of VI-SLAM package SVIn2, photorealistic dense 3D representations of selected areas can be reconstructed.

The dark aperture of a well has always been an alluring focus of human fascination. Giver of life-sustaining water, it is also seen as a portal to a warren of risky secrets; our fables are littered with wailing children whose curiosity got the better of them, consigned to an eternity of damp gazing up toward the distant, unreachable circle of light. Animal Well, an indie game seven years in the making, sends us down into one of these twilight labyrinths, a cave system of incessant dripping and darting creatures whose fur is tinged with luminescence. The goals are unstated but obvious: explore, map, emerge. It is a quest that soon becomes an obsession.

Today there are more incredible uses for robots than ever before. Innovators and inventors worldwide are applying countless types of robots to fascinating tasks. You may have heard of mechanized surgeons and AI cars, but have you heard of these six exciting uses? More eateries, especially fast-food businesses, are facing difficulties with staffing today. Developers have devised innovative solutions and unique new types of robotics.

It's date night and you are at a lovely restaurant sitting across from your date enjoying idle chit-chat. "Ask me anything, anything at all! I have the answer to all questions!" "Okay…well, how long is the longest cave in the world?" "Mammoth Cave National Park is an American national park in central Kentucky, encompassing portions of Mammoth Cave, the longest cave system known in the world. You glaze over as she drones off fact after fact about this cave for quite some time. "…which is nearly twice as long as the second-longest cave system, Mexico's Sac Actun underwater cave."