diff --git a/.github/ci/packages.apt b/.github/ci/packages.apt
index 9bfe4b327..f9908b5f4 100644
--- a/.github/ci/packages.apt
+++ b/.github/ci/packages.apt
@@ -3,6 +3,7 @@ libavdevice-dev
 libavformat-dev
 libavutil-dev
 libfreeimage-dev
+libgdal-dev
 libgts-dev
 libignition-cmake2-dev
 libignition-math7-dev
diff --git a/CMakeLists.txt b/CMakeLists.txt
index da71892bb..a9d507c8e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -48,7 +48,7 @@ message(STATUS "\n\n-- ====== Finding Dependencies ======")
 
 #--------------------------------------
 # Find ignition-math
-ign_find_package(ignition-math7 REQUIRED_BY graphics events)
+ign_find_package(ignition-math7 REQUIRED_BY geospatial graphics events)
 set(IGN_MATH_VER ${ignition-math7_VERSION_MAJOR})
 
 #--------------------------------------
@@ -94,6 +94,13 @@ ign_find_package(
   REQUIRED_BY graphics
   PRIVATE_FOR graphics)
 
+#------------------------------------
+# Find GDAL
+ign_find_package(GDAL VERSION 3.0
+  PKGCONFIG gdal
+  PRIVATE_FOR geospatial
+  REQUIRED_BY geospatial)
+
 #------------------------------------
 # Find libswscale
 ign_find_package(SWSCALE REQUIRED_BY av PRETTY libswscale)
@@ -125,7 +132,7 @@ configure_file("${PROJECT_SOURCE_DIR}/cppcheck.suppress.in"
                ${PROJECT_BINARY_DIR}/cppcheck.suppress)
 
 ign_configure_build(QUIT_IF_BUILD_ERRORS
-  COMPONENTS av events graphics profiler)
+  COMPONENTS av events geospatial graphics profiler)
 
 #============================================================================
 # Create package information
diff --git a/Migration.md b/Migration.md
index 69f1bb4bb..7b9385355 100644
--- a/Migration.md
+++ b/Migration.md
@@ -5,6 +5,20 @@ Deprecated code produces compile-time warnings. These warning serve as
 notification to users that their code should be upgraded. The next major
 release will remove the deprecated code.
 
+## Ignition Common 4.X to 5.X
+
+### Additions
+
+1. **geospatial** component that loads heightmap images and DEMs
+    + Depends on the ign-common's `graphics` component and the `gdal` library
+
+### Modifications
+
+1. `HeightmapData.hh` and `ImageHeightmap.hh` have been moved out of the
+`graphics` component and into the new `geospatial` component
+    + To use the heightmap features, users must add the `geospatial` component
+      to the `find_package` call
+
 ## Ignition Common 3.X to 4.X
 
 ### Modifications
@@ -72,4 +86,3 @@ release will remove the deprecated code.
 1. **ignition-cmake**
     + Ignition-math now has a build dependency on ignition-cmake, which
       allows cmake scripts to be shared across all the ignition packages.
-
diff --git a/geospatial/include/ignition/common/CMakeLists.txt b/geospatial/include/ignition/common/CMakeLists.txt
new file mode 100644
index 000000000..7155438eb
--- /dev/null
+++ b/geospatial/include/ignition/common/CMakeLists.txt
@@ -0,0 +1,2 @@
+
+ign_install_all_headers(COMPONENT geospatial)
diff --git a/graphics/include/ignition/common/Dem.hh b/geospatial/include/ignition/common/Dem.hh
similarity index 90%
rename from graphics/include/ignition/common/Dem.hh
rename to geospatial/include/ignition/common/Dem.hh
index ff83c0dd8..2d251b7ec 100644
--- a/graphics/include/ignition/common/Dem.hh
+++ b/geospatial/include/ignition/common/Dem.hh
@@ -18,18 +18,17 @@
 #define IGNITION_COMMON_DEM_HH_
 
 #include <memory>
+#include <string>
+#include <vector>
+
 #include <ignition/math/Vector3.hh>
 #include <ignition/math/Angle.hh>
 
+#include <ignition/common/HeightmapData.hh>
 #include <ignition/common/graphics/Export.hh>
 
 #include <ignition/utils/ImplPtr.hh>
 
-#ifdef HAVE_GDAL
-# include <string>
-# include <vector>
-
-# include <ignition/common/HeightmapData.hh>
 
 namespace ignition
 {
@@ -53,7 +52,8 @@ namespace ignition
       /// \brief Get the elevation of a terrain's point in meters.
       /// \param[in] _x X coordinate of the terrain.
       /// \param[in] _y Y coordinate of the terrain.
-      /// \return Terrain's elevation at (x,y) in meters.
+      /// \return Terrain's elevation at (x,y) in meters or infinity if illegal
+      /// coordinates were provided.
       public: double Elevation(double _x, double _y);
 
       /// \brief Get the terrain's minimum elevation in meters.
@@ -68,7 +68,8 @@ namespace ignition
       /// origin in WGS84.
       /// \param[out] _latitude Georeferenced latitude.
       /// \param[out] _longitude Georeferenced longitude.
-      public: void GeoReferenceOrigin(ignition::math::Angle &_latitude,
+      /// \return True if able to retrieve origin coordinates. False otherwise.
+      public: bool GeoReferenceOrigin(ignition::math::Angle &_latitude,
                   ignition::math::Angle &_longitude) const;
 
       /// \brief Get the terrain's height. Due to the Ogre constrains, this
@@ -120,7 +121,8 @@ namespace ignition
       /// \param[in] _y Y coordinate of the terrain.
       /// \param[out] _latitude Georeferenced latitude.
       /// \param[out] _longitude Georeferenced longitude.
-      private: void GeoReference(double _x, double _y,
+      /// \return True if able to retrieve coordinates. False otherwise.
+      private: bool GeoReference(double _x, double _y,
                                  ignition::math::Angle &_latitude,
                                  ignition::math::Angle &_longitude) const;
 
@@ -130,6 +132,9 @@ namespace ignition
       /// \return 0 when the operation succeeds to open a file.
       private: int LoadData();
 
+      // Documentation inherited.
+      public: std::string Filename() const;
+
       /// internal
       /// \brief Pointer to the private data.
       IGN_UTILS_IMPL_PTR(dataPtr)
@@ -137,4 +142,3 @@ namespace ignition
   }
 }
 #endif
-#endif
diff --git a/graphics/include/ignition/common/HeightmapData.hh b/geospatial/include/ignition/common/HeightmapData.hh
similarity index 84%
rename from graphics/include/ignition/common/HeightmapData.hh
rename to geospatial/include/ignition/common/HeightmapData.hh
index 22eeb4945..a67b1135a 100644
--- a/graphics/include/ignition/common/HeightmapData.hh
+++ b/geospatial/include/ignition/common/HeightmapData.hh
@@ -17,6 +17,7 @@
 #ifndef IGNITION_COMMON_HEIGHTMAPDATA_HH_
 #define IGNITION_COMMON_HEIGHTMAPDATA_HH_
 
+#include <string>
 #include <vector>
 #include <ignition/math/Vector3.hh>
 #include <ignition/common/graphics/Export.hh>
@@ -57,6 +58,17 @@ namespace ignition
       /// \brief Get the maximum terrain's elevation.
       /// \return The maximum terrain's elevation.
       public: virtual float MaxElevation() const = 0;
+
+      /// \brief Get the min terrain's elevation.
+      /// \return The min terrain's elevation.
+      public: virtual float MinElevation() const
+              {
+                return 0.0f;
+              }
+
+      /// \brief Get the full filename of loaded heightmap image/dem
+      /// \return The filename used to load the heightmap image/dem
+      public: virtual std::string Filename() const = 0;
     };
   }
 }
diff --git a/graphics/include/ignition/common/ImageHeightmap.hh b/geospatial/include/ignition/common/ImageHeightmap.hh
similarity index 98%
rename from graphics/include/ignition/common/ImageHeightmap.hh
rename to geospatial/include/ignition/common/ImageHeightmap.hh
index 43a1bccc8..5ee7431e8 100644
--- a/graphics/include/ignition/common/ImageHeightmap.hh
+++ b/geospatial/include/ignition/common/ImageHeightmap.hh
@@ -49,8 +49,7 @@ namespace ignition
           const ignition::math::Vector3d &_scale, bool _flipY,
           std::vector<float> &_heights);
 
-      /// \brief Get the full filename of the image
-      /// \return The filename used to load the image
+      // Documentation inherited.
       public: std::string Filename() const;
 
       // Documentation inherited.
diff --git a/geospatial/src/CMakeLists.txt b/geospatial/src/CMakeLists.txt
new file mode 100644
index 000000000..6975e86fc
--- /dev/null
+++ b/geospatial/src/CMakeLists.txt
@@ -0,0 +1,22 @@
+
+ign_get_libsources_and_unittests(sources gtest_sources)
+
+ign_add_component(geospatial
+  SOURCES ${sources}
+  DEPENDS_ON_COMPONENTS graphics
+  GET_TARGET_NAME geospatial_target)
+
+target_link_libraries(${geospatial_target}
+  PUBLIC
+    ${PROJECT_LIBRARY_TARGET_NAME}-graphics
+    ignition-math${IGN_MATH_VER}::ignition-math${IGN_MATH_VER}
+    ignition-utils${IGN_UTILS_VER}::ignition-utils${IGN_UTILS_VER}
+  PRIVATE
+    ${GDAL_LIBRARY})
+
+target_include_directories(${geospatial_target}
+  PRIVATE
+    ${GDAL_INCLUDE_DIR})
+
+ign_build_tests(TYPE UNIT SOURCES ${gtest_sources}
+  LIB_DEPS ${geospatial_target})
diff --git a/graphics/src/Dem.cc b/geospatial/src/Dem.cc
similarity index 69%
rename from graphics/src/Dem.cc
rename to geospatial/src/Dem.cc
index ad52f023c..eb9318555 100644
--- a/graphics/src/Dem.cc
+++ b/geospatial/src/Dem.cc
@@ -15,13 +15,10 @@
  *
 */
 #include <algorithm>
+#include <limits>
 
-#ifdef HAVE_GDAL
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wfloat-equal"
-# include <ogr_spatialref.h>
-# pragma GCC diagnostic pop
-#endif
+#include <gdal_priv.h>
+#include <ogr_spatialref.h>
 
 #include "ignition/common/Console.hh"
 #include "ignition/common/Dem.hh"
@@ -30,8 +27,6 @@
 using namespace ignition;
 using namespace common;
 
-#ifdef HAVE_GDAL
-
 class ignition::common::Dem::Implementation
 {
   /// \brief A set of associated raster bands.
@@ -57,6 +52,9 @@ class ignition::common::Dem::Implementation
 
   /// \brief DEM data converted to be OGRE-compatible.
   public: std::vector<float> demData;
+
+  /// \brief Full filename used to load the dem.
+  public: std::string filename;
 };
 
 //////////////////////////////////////////////////
@@ -89,12 +87,13 @@ int Dem::Load(const std::string &_filename)
   // Sanity check
   std::string fullName = _filename;
   if (!exists(findFilePath(fullName)))
-    fullName = common::find_file(_filename);
+    fullName = common::findFile(_filename);
+
+  this->dataPtr->filename = fullName;
 
   if (!exists(findFilePath(fullName)))
   {
-    gzerr << "Unable to open DEM file[" << _filename
-          << "], check your GAZEBO_RESOURCE_PATH settings." << std::endl;
+    ignerr << "Unable to find DEM file[" << _filename << "]." << std::endl;
     return -1;
   }
 
@@ -103,25 +102,25 @@ int Dem::Load(const std::string &_filename)
 
   if (this->dataPtr->dataSet == nullptr)
   {
-    gzerr << "Unable to open DEM file[" << fullName
-          << "]. Format not recognised as a supported dataset." << std::endl;
+    ignerr << "Unable to open DEM file[" << fullName
+           << "]. Format not recognized as a supported dataset." << std::endl;
     return -1;
   }
 
-  int nBands = this->dataPtr->dataSet->RasterCount();
+  int nBands = this->dataPtr->dataSet->GetRasterCount();
   if (nBands != 1)
   {
-    gzerr << "Unsupported number of bands in file [" << fullName + "]. Found "
+    ignerr << "Unsupported number of bands in file [" << fullName + "]. Found "
           << nBands << " but only 1 is a valid value." << std::endl;
     return -1;
   }
 
   // Set the pointer to the band
-  this->dataPtr->band = this->dataPtr->dataSet->RasterBand(1);
+  this->dataPtr->band = this->dataPtr->dataSet->GetRasterBand(1);
 
   // Raster width and height
-  xSize = this->dataPtr->dataSet->RasterXSize();
-  ySize = this->dataPtr->dataSet->RasterYSize();
+  xSize = this->dataPtr->dataSet->GetRasterXSize();
+  ySize = this->dataPtr->dataSet->GetRasterYSize();
 
   // Corner coordinates
   upLeftX = 0.0;
@@ -132,9 +131,15 @@ int Dem::Load(const std::string &_filename)
   lowLeftY = ySize;
 
   // Calculate the georeferenced coordinates of the terrain corners
-  this->GeoReference(upLeftX, upLeftY, upLeftLat, upLeftLong);
-  this->GeoReference(upRightX, upRightY, upRightLat, upRightLong);
-  this->GeoReference(lowLeftX, lowLeftY, lowLeftLat, lowLeftLong);
+  if (!this->GeoReference(upLeftX, upLeftY, upLeftLat, upLeftLong)
+      || !this->GeoReference(upRightX, upRightY, upRightLat, upRightLong)
+      || !this->GeoReference(lowLeftX, lowLeftY, lowLeftLat, lowLeftLong))
+  {
+    ignerr << "Failed to automatically compute DEM size. "
+            << "Please use the <size> element to manually set DEM size."
+            << std::endl;
+    return -1;
+  }
 
   // Set the world width and height
   this->dataPtr->worldWidth =
@@ -161,12 +166,38 @@ int Dem::Load(const std::string &_filename)
   if (this->LoadData() != 0)
     return -1;
 
-  // Set the min/max heights
-  this->dataPtr->minElevation = *std::min_element(&this->dataPtr->demData[0],
-      &this->dataPtr->demData[0] + this->dataPtr->side * this->dataPtr->side);
-  this->dataPtr->maxElevation = *std::max_element(&this->dataPtr->demData[0],
-      &this->dataPtr->demData[0] + this->dataPtr->side * this->dataPtr->side);
+  // Check for nodata value in dem data. This is used when computing the
+  // min elevation. If nodata value is not defined, we assume it will be one
+  // of the commonly used values such as -9999, -32768, etc.
+  // See https://desktop.arcgis.com/en/arcmap/10.8/manage-data/raster-and-images/nodata-in-raster-datasets.htm
+  // For simplicity, we will treat values <= -9999 as nodata values and
+  // ignore them when computing the min elevation.
+  int validNoData = 0;
+  const double defaultNoDataValue = -9999;
+  double noDataValue = this->dataPtr->band->GetNoDataValue(&validNoData);
+  if (validNoData <= 0)
+    noDataValue = defaultNoDataValue;
+
+  double min = ignition::math::MAX_D;
+  double max = -ignition::math::MAX_D;
+  for (auto d : this->dataPtr->demData)
+  {
+    if (d > noDataValue)
+    {
+      if (d < min)
+        min = d;
+      if (d > max)
+        max = d;
+    }
+  }
+  if (ignition::math::equal(min, ignition::math::MAX_D) ||
+      ignition::math::equal(max, -ignition::math::MAX_D))
+  {
+    ignwarn << "DEM is composed of 'nodata' values!" << std::endl;
+  }
 
+  this->dataPtr->minElevation = min;
+  this->dataPtr->maxElevation = max;
   return 0;
 }
 
@@ -175,9 +206,10 @@ double Dem::Elevation(double _x, double _y)
 {
   if (_x >= this->Width() || _y >= this->Height())
   {
-    gzthrow("Illegal coordinates. You are asking for the elevation in (" <<
-          _x << "," << _y << ") but the terrain is [" << this->Width() <<
-           " x " << this->Height() << "]\n");
+    ignerr << "Illegal coordinates. You are asking for the elevation in ("
+           << _x << "," << _y << ") but the terrain is ["
+           << this->Width() << " x " << this->Height() << "]" << std::endl;
+    return std::numeric_limits<double>::infinity();
   }
 
   return this->dataPtr->demData.at(_y * this->Width() + _x);
@@ -196,11 +228,11 @@ float Dem::MaxElevation() const
 }
 
 //////////////////////////////////////////////////
-void Dem::GeoReference(double _x, double _y,
+bool Dem::GeoReference(double _x, double _y,
     ignition::math::Angle &_latitude, ignition::math::Angle &_longitude) const
 {
   double geoTransf[6];
-  if (this->dataPtr->dataSet->GeoTransform(geoTransf) == CE_None)
+  if (this->dataPtr->dataSet->GetGeoTransform(geoTransf) == CE_None)
   {
     OGRSpatialReference sourceCs;
     OGRSpatialReference targetCs;
@@ -208,26 +240,40 @@ void Dem::GeoReference(double _x, double _y,
     double xGeoDeg, yGeoDeg;
 
     // Transform the terrain's coordinate system to WGS84
-    char *importString = strdup(this->dataPtr->dataSet->ProjectionRef());
+    const char *importString
+        = strdup(this->dataPtr->dataSet->GetProjectionRef());
     sourceCs.importFromWkt(&importString);
     targetCs.SetWellKnownGeogCS("WGS84");
     cT = OGRCreateCoordinateTransformation(&sourceCs, &targetCs);
+    if (nullptr == cT)
+    {
+      ignerr << "Unable to transform terrain coordinate system to WGS84 for "
+             << "coordinates (" << _x << "," << _y << ")" << std::endl;
+      OCTDestroyCoordinateTransformation(cT);
+      return false;
+    }
 
     xGeoDeg = geoTransf[0] + _x * geoTransf[1] + _y * geoTransf[2];
     yGeoDeg = geoTransf[3] + _x * geoTransf[4] + _y * geoTransf[5];
 
     cT->Transform(1, &xGeoDeg, &yGeoDeg);
 
-    _latitude.Degree(yGeoDeg);
-    _longitude.Degree(xGeoDeg);
+    _latitude.SetDegree(yGeoDeg);
+    _longitude.SetDegree(xGeoDeg);
+
+    OCTDestroyCoordinateTransformation(cT);
   }
   else
-    gzthrow("Unable to obtain the georeferenced values for coordinates ("
-            << _x << "," << _y << ")\n");
+  {
+    ignerr << "Unable to obtain the georeferenced values for coordinates ("
+           << _x << "," << _y << ")" << std::endl;
+    return false;
+  }
+  return true;
 }
 
 //////////////////////////////////////////////////
-void Dem::GeoReferenceOrigin(ignition::math::Angle &_latitude,
+bool Dem::GeoReferenceOrigin(ignition::math::Angle &_latitude,
     ignition::math::Angle &_longitude) const
 {
   return this->GeoReference(0, 0, _latitude, _longitude);
@@ -265,7 +311,7 @@ void Dem::FillHeightMap(int _subSampling, unsigned int _vertSize,
 {
   if (_subSampling <= 0)
   {
-    gzerr << "Illegal subsampling value (" << _subSampling << ")\n";
+    ignerr << "Illegal subsampling value (" << _subSampling << ")\n";
     return;
   }
 
@@ -299,8 +345,8 @@ void Dem::FillHeightMap(int _subSampling, unsigned int _vertSize,
       double px4 = this->dataPtr->demData[y2 * this->dataPtr->side + x2];
       float h2 = (px3 - ((px3 - px4) * dx));
 
-      float h = (h1 - ((h1 - h2) * dy) - std::max(0.0f,
-          this->MinElevation())) * _scale.Z();
+      float h = this->dataPtr->minElevation +
+          (h1 - ((h1 - h2) * dy) - this->dataPtr->minElevation) * _scale.Z();
 
       // Invert pixel definition so 1=ground, 0=full height,
       // if the terrain size has a negative z component
@@ -308,9 +354,9 @@ void Dem::FillHeightMap(int _subSampling, unsigned int _vertSize,
       if (_size.Z() < 0)
         h *= -1;
 
-      // Convert to 0 if a NODATA value is found
-      if (_size.Z() >= 0 && h < 0)
-        h = 0;
+      // Convert to minElevation if a NODATA value is found
+      if (_size.Z() >= 0 && h < this->dataPtr->minElevation)
+        h = this->dataPtr->minElevation;
 
       // Store the height for future use
       if (!_flipY)
@@ -326,14 +372,14 @@ int Dem::LoadData()
 {
     unsigned int destWidth;
     unsigned int destHeight;
-    unsigned int nXSize = this->dataPtr->dataSet->RasterXSize();
-    unsigned int nYSize = this->dataPtr->dataSet->RasterYSize();
+    unsigned int nXSize = this->dataPtr->dataSet->GetRasterXSize();
+    unsigned int nYSize = this->dataPtr->dataSet->GetRasterYSize();
     float ratio;
     std::vector<float> buffer;
 
     if (nXSize == 0 || nYSize == 0)
     {
-      gzerr << "Illegal size loading a DEM file (" << nXSize << ","
+      ignerr << "Illegal size loading a DEM file (" << nXSize << ","
             << nYSize << ")\n";
       return -1;
     }
@@ -360,7 +406,7 @@ int Dem::LoadData()
     if (this->dataPtr->band->RasterIO(GF_Read, 0, 0, nXSize, nYSize, &buffer[0],
                          destWidth, destHeight, GDT_Float32, 0, 0) != CE_None)
     {
-      gzerr << "Failure calling RasterIO while loading a DEM file\n";
+      ignerr << "Failure calling RasterIO while loading a DEM file\n";
       return -1;
     }
 
@@ -378,4 +424,8 @@ int Dem::LoadData()
     return 0;
 }
 
-#endif
+//////////////////////////////////////////////////
+std::string Dem::Filename() const
+{
+  return this->dataPtr->filename;
+}
diff --git a/graphics/src/Dem_TEST.cc b/geospatial/src/Dem_TEST.cc
similarity index 51%
rename from graphics/src/Dem_TEST.cc
rename to geospatial/src/Dem_TEST.cc
index bc39e7248..5a8fcde20 100644
--- a/graphics/src/Dem_TEST.cc
+++ b/geospatial/src/Dem_TEST.cc
@@ -16,6 +16,7 @@
 */
 
 #include <gtest/gtest.h>
+#include <limits>
 #include <ignition/math/Angle.hh>
 #include <ignition/math/Vector3.hh>
 
@@ -26,10 +27,8 @@ using namespace ignition;
 
 class DemTest : public common::testing::AutoLogFixture { };
 
-#ifdef HAVE_GDAL
-
 /////////////////////////////////////////////////
-TEST_F(DemTest, MisingFile)
+TEST_F(DemTest, MissingFile)
 {
   common::Dem dem;
   EXPECT_NE(dem.Load("/file/shouldn/never/exist.png"), 0);
@@ -39,9 +38,7 @@ TEST_F(DemTest, MisingFile)
 TEST_F(DemTest, NotDem)
 {
   common::Dem dem;
-  std::string path;
-
-  path = "file://media/materials/scripts/CMakeLists.txt";
+  const auto path = common::testing::TestFile("CMakeLists.txt");
   EXPECT_NE(dem.Load(path), 0);
 }
 
@@ -49,9 +46,7 @@ TEST_F(DemTest, NotDem)
 TEST_F(DemTest, UnsupportedDem)
 {
   common::Dem dem;
-  std::string path;
-
-  path = "file://media/materials/textures/wood.jpg";
+  const auto path = common::testing::TestFile("data", "heightmap_bowl.png");
   EXPECT_NE(dem.Load(path), 0);
 }
 
@@ -86,30 +81,34 @@ TEST_F(DemTest, BasicAPI)
   const auto path = common::testing::TestFile("data", "dem_squared.tif");
   EXPECT_EQ(dem.Load(path), 0);
 
+  // Check filename
+  EXPECT_EQ(path, dem.Filename());
+
   // Check the heights and widths
-  EXPECT_EQ(129, static_cast<int>(dem.GetHeight()));
-  EXPECT_EQ(129, static_cast<int>(dem.GetWidth()));
-  EXPECT_FLOAT_EQ(3984.4849, dem.GetWorldHeight());
-  EXPECT_FLOAT_EQ(3139.7456, dem.GetWorldWidth());
-  EXPECT_FLOAT_EQ(65.3583, dem.GetMinElevation());
-  EXPECT_FLOAT_EQ(318.441, dem.GetMaxElevation());
-
-  // Check GetElevation()
-  unsigned int width = dem.GetWidth();
-  unsigned int height = dem.GetHeight();
-  EXPECT_FLOAT_EQ(215.82324, dem.GetElevation(0, 0));
-  EXPECT_FLOAT_EQ(216.04961, dem.GetElevation(width - 1, 0));
-  EXPECT_FLOAT_EQ(142.2274, dem.GetElevation(0, height - 1));
-  EXPECT_FLOAT_EQ(209.14784, dem.GetElevation(width - 1, height - 1));
+  EXPECT_EQ(129, static_cast<int>(dem.Height()));
+  EXPECT_EQ(129, static_cast<int>(dem.Width()));
+  EXPECT_FLOAT_EQ(3984.4849, dem.WorldHeight());
+  EXPECT_FLOAT_EQ(3139.7456, dem.WorldWidth());
+  EXPECT_FLOAT_EQ(65.3583, dem.MinElevation());
+  EXPECT_FLOAT_EQ(318.441, dem.MaxElevation());
+
+  // Check Elevation()
+  unsigned int width = dem.Width();
+  unsigned int height = dem.Height();
+  EXPECT_FLOAT_EQ(215.82324, dem.Elevation(0, 0));
+  EXPECT_FLOAT_EQ(216.04961, dem.Elevation(width - 1, 0));
+  EXPECT_FLOAT_EQ(142.2274, dem.Elevation(0, height - 1));
+  EXPECT_FLOAT_EQ(209.14784, dem.Elevation(width - 1, height - 1));
 
   // Illegal coordinates
-  ASSERT_ANY_THROW(dem.GetElevation(0, height));
-  ASSERT_ANY_THROW(dem.GetElevation(width, 0));
-  ASSERT_ANY_THROW(dem.GetElevation(width, height));
+  double inf = std::numeric_limits<double>::infinity();
+  EXPECT_DOUBLE_EQ(inf, dem.Elevation(0, height));
+  EXPECT_DOUBLE_EQ(inf, dem.Elevation(width, 0));
+  EXPECT_DOUBLE_EQ(inf, dem.Elevation(width, height));
 
-  // Check GetGeoReferenceOrigin()
+  // Check GeoReferenceOrigin()
   ignition::math::Angle latitude, longitude;
-  dem.GetGeoReferenceOrigin(latitude, longitude);
+  EXPECT_TRUE(dem.GeoReferenceOrigin(latitude, longitude));
   EXPECT_FLOAT_EQ(38.001667, latitude.Degree());
   EXPECT_FLOAT_EQ(-122.22278, longitude.Degree());
 }
@@ -130,17 +129,17 @@ TEST_F(DemTest, FillHeightmap)
   std::vector<float> elevations;
 
   subsampling = 2;
-  vertSize = (dem.GetWidth() * subsampling) - 1;
-  size.X(dem.GetWorldWidth());
-  size.Y(dem.GetWorldHeight());
-  size.Z(dem.GetMaxElevation() - dem.GetMinElevation());
+  vertSize = (dem.Width() * subsampling) - 1;
+  size.X(dem.WorldWidth());
+  size.Y(dem.WorldHeight());
+  size.Z(dem.MaxElevation() - dem.MinElevation());
   scale.X(size.X() / vertSize);
   scale.Y(size.Y() / vertSize);
 
-  if (ignition::math::equal(dem.GetMaxElevation(), 0.0f))
+  if (ignition::math::equal(dem.MaxElevation(), 0.0f))
     scale.Z(fabs(size.Z()));
   else
-    scale.Z(fabs(size.Z()) / dem.GetMaxElevation());
+    scale.Z(fabs(size.Z()) / dem.MaxElevation());
   flipY = false;
 
   dem.FillHeightMap(subsampling, vertSize, size, scale, flipY, elevations);
@@ -149,11 +148,46 @@ TEST_F(DemTest, FillHeightmap)
   EXPECT_EQ(vertSize * vertSize, elevations.size());
 
   // Check the elevation of some control points
-  EXPECT_FLOAT_EQ(119.58285, elevations.at(0));
-  EXPECT_FLOAT_EQ(114.27753, elevations.at(elevations.size() - 1));
-  EXPECT_FLOAT_EQ(148.07137, elevations.at(elevations.size() / 2));
+  EXPECT_FLOAT_EQ(184.94113, elevations.at(0));
+  EXPECT_FLOAT_EQ(179.63583, elevations.at(elevations.size() - 1));
+  EXPECT_FLOAT_EQ(213.42966, elevations.at(elevations.size() / 2));
+}
+
+/////////////////////////////////////////////////
+TEST_F(DemTest, UnfinishedDem)
+{
+  common::Dem dem;
+  auto path = common::testing::TestFile("data", "dem_unfinished.tif");
+  EXPECT_EQ(dem.Load(path), 0);
+
+  // Check that the min and max elevations are valid for an unfinished
+  // and unfilled dem.
+  EXPECT_EQ(33, static_cast<int>(dem.Height()));
+  EXPECT_EQ(33, static_cast<int>(dem.Width()));
+  EXPECT_FLOAT_EQ(111287.59, dem.WorldHeight());
+  EXPECT_FLOAT_EQ(88878.297, dem.WorldWidth());
+  // gdal reports min elevation as -32768 but this is treated as a nodata
+  // by our dem class and ignored when computing the min elevation
+  EXPECT_FLOAT_EQ(-10, dem.MinElevation());
+  EXPECT_FLOAT_EQ(1909, dem.MaxElevation());
+
+  // test another dem file with multiple nodata values
+  common::Dem demNoData;
+
+  path = common::testing::TestFile("data", "dem_nodata.dem");
+  EXPECT_EQ(demNoData.Load(path), 0);
+
+  // Check that the min and max elevations are valid for a dem with multiple
+  // nodata values
+  EXPECT_EQ(65, static_cast<int>(demNoData.Height()));
+  EXPECT_EQ(65, static_cast<int>(demNoData.Width()));
+  EXPECT_FLOAT_EQ(7499.8281, demNoData.WorldHeight());
+  EXPECT_FLOAT_EQ(14150.225, demNoData.WorldWidth());
+  // gdal reports min elevation as -32767 but this is treated as a nodata
+  // by our dem class and ignored when computing the min elevation
+  EXPECT_FLOAT_EQ(682, demNoData.MinElevation());
+  EXPECT_FLOAT_EQ(2932, demNoData.MaxElevation());
 }
-#endif
 
 /////////////////////////////////////////////////
 int main(int argc, char **argv)
diff --git a/graphics/src/ImageHeightmap.cc b/geospatial/src/ImageHeightmap.cc
similarity index 100%
rename from graphics/src/ImageHeightmap.cc
rename to geospatial/src/ImageHeightmap.cc
diff --git a/graphics/src/ImageHeightmap_TEST.cc b/geospatial/src/ImageHeightmap_TEST.cc
similarity index 97%
rename from graphics/src/ImageHeightmap_TEST.cc
rename to geospatial/src/ImageHeightmap_TEST.cc
index b40880879..2b93f845a 100644
--- a/graphics/src/ImageHeightmap_TEST.cc
+++ b/geospatial/src/ImageHeightmap_TEST.cc
@@ -28,7 +28,7 @@ class ImageHeightmapTest : public common::testing::AutoLogFixture { };
 class DemTest : public common::testing::AutoLogFixture { };
 
 /////////////////////////////////////////////////
-TEST_F(DemTest, MisingFile)
+TEST_F(DemTest, MissingFile)
 {
   common::ImageHeightmap img;
   EXPECT_EQ(-1, img.Load("/file/shouldn/never/exist.png"));
@@ -51,6 +51,9 @@ TEST_F(ImageHeightmapTest, BasicAPI)
   std::cout << "PATH[" << path << "]\n";
   EXPECT_EQ(0, img.Load(path));
 
+  // Check filename
+  EXPECT_EQ(path, img.Filename());
+
   // Check the heights and widths
   EXPECT_EQ(129, static_cast<int>(img.Height()));
   EXPECT_EQ(129, static_cast<int>(img.Width()));
diff --git a/test/data/dem_landscape.tif b/test/data/dem_landscape.tif
new file mode 100644
index 000000000..b86023728
Binary files /dev/null and b/test/data/dem_landscape.tif differ
diff --git a/test/data/dem_nodata.dem b/test/data/dem_nodata.dem
new file mode 100644
index 000000000..60b04bf4c
Binary files /dev/null and b/test/data/dem_nodata.dem differ
diff --git a/test/data/dem_portrait.tif b/test/data/dem_portrait.tif
new file mode 100644
index 000000000..bc8034221
Binary files /dev/null and b/test/data/dem_portrait.tif differ
diff --git a/test/data/dem_squared.tif b/test/data/dem_squared.tif
new file mode 100644
index 000000000..dcb8dd082
Binary files /dev/null and b/test/data/dem_squared.tif differ
diff --git a/test/data/dem_unfinished.tif b/test/data/dem_unfinished.tif
new file mode 100644
index 000000000..3e7b0b65a
Binary files /dev/null and b/test/data/dem_unfinished.tif differ