The management of large infrastructures requires comprehensive knowledge of their general characteristics and the elements that constitute them. It is essential to know which elements are involved and where they are located. At the same time, it is vital to understand the overall geometry. The accuracy and precision required for both types of information is different: much greater accuracy is required in the understanding of the geometry. However, it is difficult to obtain this information about underground infrastructures due to their lighting characteristics, hazards, lack of GNSS (Global Navigation Satellite System) signals, and time available. In this case, to achieve the required quality in both tasks, the mobile mapping systems that are widely used in large surveys and urban inventories have to be adapted to obtain data in underground conditions. To achieve this, considerable geodesic support is necessary. The GNSS positioning system should be replaced by IMU sensors, and infrared sensor cameras are used, among other pieces of equipment. To establish the trajectory, additional information extracted from the targets detected in the laser scanning point clouds must be used. Therefore, a laser scanning and kinematic photogrammetry survey was carried out to obtain the centimetric precision and complete information that is still used today. This paper presents an adaptation of these systems for use in the Ferrocarril Metropolità de Barcelona.