have you ever thought of using a drone? Like the tower with no stairs .....
But adding a aerial view your your explorations might be interesting. But also inside, in hard to get places where there is just too much rubbish to get through on foot.
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I did buy one but was terrified of losing it. £500.. and then it's gone. It was noisy as hell and I rely on stealth. Not good for what I do. The images you can get are great though.
I sent the drone back and got a full refund. There's issues with pilot licenses here and where you can fly them to add to all this.
for your purposes, those small mini drones, running whisper-quiet would be better for indoor exploration. They are not expensive. Of course for aerial photos you need something bigger - depends what you can run without a license.
Check out what my friend Peter Gric does with his drones (he has a large collection, both planes and helicopters. https://peakd.com/hive-150994/@gric/free-drone-video-ql8kz3
he also has some very small mini drones he is quite adept of flying in the house.