You must mean something cheap, portable, relatively small, etc - because ground penetrating radar is a thing:
https://en.wikipedia.org/wiki/Ground-penetrating_radar
I could see something that could be "attached" to a cell phone (via bluetooth or such), attached to a stick or such (like a metal detector) - would be useful. Sonar would probably be the cheapest way, but the power requirements would be fairly large (at least as much as what's needed for a fish-finder, I would imagine).
Hmm - gotta give some thought to this!