Carmen De Las Heras

The 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.

The cave of Altamira (Spain), a UNESCO World Heritage site, contains one of the most fragile and inaccessible Paleolithic rock-art environments in Europe, where conventional geomatics workflows are limited by severe spatial, lighting, and safety constraints. 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 using manually segmented images to automatically detect cracks 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 long-term storage, multitemporal comparison, and collaborative annotation. The study confirms the feasibility of UAV-based SLAM mapping combined with videogrammetry and deep learning segmentation as a robust approach for structural assessment and preventive conservation in Paleolithic caves and similarly constrained cultural heritage contexts.

This study addresses the features of the internal structure of the geological layers adjacent to the Polychrome Hall ceiling of the Cave of Altamira (Spain) and their link to the distribution of moisture and geological discontinuities mainly as fractures, joints, bedding planes and detachments, using 3D Ground Penetrating Radar (GPR) mapping. In this research, 3D GPR data were collected with 300 MHz, 800 MHz and 1.6 GHz center frequency antennas. The data recorded with these three frequency antennas were combined to further our understanding of the layout of geological discontinuities and how they link to the moisture or water inputs that infiltrate and reach the ceiling surface where the rock art of the Polychrome Hall is located. The same 1 × 1 m² area was adopted for 3D data acquisition with the three antennas, obtaining 3D isosurface (isoattribute-surface) images of internal distribution of moisture and structural features of the Polychrome Hall ceiling. The results derived from this study reveal significant insights into the overlying karst strata of Polychrome Hall, particularly the interface between the Polychrome Layer and the underlying Dolomitic Layer. The results show moisture patterns associated with geological features such as fractures, joints, detachments of strata and microcatchments, elucidating the mechanisms driving capillary rise and water infiltration coming from higher altitudes. The study primarily identifies areas of increased moisture content, correlating with earlier observations and enhancing our understanding of water infiltration patterns. This underscores the utility of 3D GPR as an essential tool for informing and putting conservation measures into practice. By delineating subsurface structures and moisture dynamics, this research contributes to a deeper analysis of the deterioration processes directly associated with the infiltration water both in this ceiling and in the rest of the Cave of Altamira, providing information to determine its future geological and hydrogeological evolution.

The conservation of Cultural Heritage in cave environments, especially those hosting cave art, requires comprehensive conservation strategies to mitigate degradation risks derived from climatic influences and human activities. This study, focused on the Polychrome Hall of the Cave of Altamira, highlights the importance of integrating remote sensing methodologies to carry out effective conservation actions. By coupling a georeferenced Ground Penetrating Radar (GPR) with a 1.6 GHz central-frequency antenna along with photogrammetry, we conducted non-invasive and high-resolution 3D studies to map preferential moisture pathways from the surface of the ceiling to the first 50 cm internally of the limestone structure. In parallel, we monitored the dynamics of surface water on the Ceiling and its correlation with pigment and other substance migrations. By standardizing our methodology, we aim to increase knowledge about the dynamics of infiltration water, which will enhance our understanding of the deterioration processes affecting cave paintings related to infiltration water. This will enable us to improve conservation strategies, suggesting possible indirect measures to reverse active deterioration processes. Integrating remote sensing techniques with geospatial analysis will aid in the validation and calibration of collected data, allowing for stronger interpretations of subsurface structures and conditions. All of this puts us in a position to contribute to the development of effective conservation methodologies, reduce alteration risks, and promote sustainable development practices, thus emphasizing the importance of remote sensing in safeguarding Cultural Heritage.

This paper addresses the conservation problems of the cave of Altamira, a UNESCO World Heritage Site in Santillana del Mar, Cantabria, Spain, due to the effects of moisture and water inside the cave. The study focuses on the description of methods for estimating the trajectory and zones of humidity from the external environment to its eventual dripping on valuable cave paintings. To achieve this objective, several multisensor remote sensing techniques, both aerial and terrestrial, such as 3D laser scanning, a 2D ground penetrating radar, photogrammetry with unmanned aerial vehicles, and high-resolution terrestrial techniques are employed. These tools allow a detailed spatial analysis of the moisture and water in the cave. The paper highlights the importance of the dolomitic layer in the cave and how it influences the preservation of the ceiling, which varies according to its position, whether it is sealed with calcium carbonate, actively dripping, or not dripping. In addition, the crucial role of the central fracture and the areas of direct water infiltration in this process is examined. This research aids in understanding and conserving the site. It offers a novel approach to water-induced deterioration in rock art for professionals and researchers.

Rock art offers traces of our most remote past and was made with mineral and organic substances in shelters, walls, or the ceilings of caves. As it is notably fragile, it is fortunate that some instances remain intact—but a variety of natural and anthropogenic factors can lead to its disappearance. Therefore, as a valuable cultural heritage, rock art requires special conservation and protection measures. Geomatic remote-sensing technologies such as 3D terrestrial laser scanning (3DTLS), drone flight, and ground-penetrating radar (GPR) allow us to generate exhaustive documentation of caves and their environment in 2D, 2.5D, and 3D. However, only its combined use with 3D geographic information systems (GIS) lets us generate new cave maps with details such as overlying layer thickness, sinkholes, fractures, joints, and detachments that also more precisely reveal interior–exterior interconnections and gaseous exchange; i.e., the state of senescence of the karst that houses the cave. Information of this kind is of great value for the research, management, conservation, monitoring, and dissemination of cave art.