Compact and lightweight hyperspectral imagers allow the application of close range hyperspectral imaging with a ground based scanning setup for geological fieldwork. Using such a scanning setup, steep cliff sections and quarry walls can be scanned with a more appropriate viewing direction and a higher image resolution than from airborne and spaceborne platforms. Integration of the hyperspectral imagery with terrestrial lidar scanning provides the hyperspectral information in a georeferenced framework and enables measurement at centimetre scale. In this paper, three geological case studies are used to demonstrate the potential of this method for rock characterisation. Two case studies are applied to carbonate quarries where mapping of different limestone and dolomite types was required, as well as measurements of faults and layer thicknesses from inaccessible parts of the quarries. The third case study demonstrates the method using artificial lighting, applied in a subsurface scanning scenario where solar radiation cannot be utilised.