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Cavity under urban roads has increasingly become a huge threat to traffic safety. This paper aims to study cavity morphology characteristics and proposes a deep learning (DL)-based morphology classification method using the 3D ground-penetrating radar (GPR) data. Fine-tuning technology in DL can be used in some cases with relatively few samples, but in the case of only one or very few samples, there will still be overfitting problems. To address this issue, a simple and general framework, few-shot learning (FSL), is first employed for the cavity classification tasks, based on which a classifier learns to identify new classes given only very few examples. We adopt a relation network (RelationNet) as the FSL framework, which consists of an embedding module and a relation module. Furthermore, the proposed method is simpler and faster because it does not require pre-training or fine-tuning. The experimental results are validated using the 3D GPR road modeling data obtained from the gprMax3D system. The proposed method is compared with other FSL networks such as ProtoNet, R2D2, and BaseLine relative to different benchmarks. The experimental results demonstrate that this method outperforms other prior approaches, and its average accuracy reaches 97.328% in a <i>four-way five-shot</i> problem using few support samples.