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What are various technologies to map subsurface infrastructure?

from Geospatial World

November 1896, Boston: Inspired by the subsurface tunnel constructions of the European countries, the industrial and trade cities of America, New York and Boston, tussled with each other to be the first in the race to move people under the busy streets. Boston won the race, and the city officials began the designing, planning and construction of "America's first Subway" at the Boylston station on the Tremont Street and Park Street under the Boston Commons in 1896. more

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