The 3D mapping of Erdstall facilities presents unique challenges due to their underground and confined nature. This research explores the application of mobile mapping systems to overcome these challenges and acquire accurate spatial data within Erdstall passages. Using a handheld device that combines an RGB camera with depth sensor and motion tracking technology, we address the difficulties associated with limited access, uneven surfaces, low light conditions, and complex geometries inherent to Erdstalls. The research contributes to the understanding of Erdstall architectures, spatial relationships, and historical contexts. By evaluating the effectiveness of mobile mapping technologies in Erdstalls, this study contributes valuable insights to the broader field of archaeological mapping in challenging environments. The results demonstrate the potential of mobile 3D mapping as a powerful tool for documenting and preserving underground heritage sites while providing a foundation for further interdisciplinary studies and initiatives.