Scan Matching based 3D Lidar Mapping in Indoor and Outdoor Environments 

Latest, improved results and the underlying software belong to Kaarta.
Please check out our commercial products:
www.kaarta.com
Paper references:
J. Zhang and S. Singh. Laser-visual-inertial Odometry and Mapping with High Robustness and Low Drift. Journal of Field Robotics. vol. 35, no. 8, pp. 1242-1264, 2018.
J. Zhang and S. Singh. Low-drift and Real-time Lidar Odometry and Mapping. Autonomous Robots. vol. 41, no. 2, pp. 401-416, 2017.
J. Zhang, M. Kaess and S. Singh. A Real-time Method for Depth Enhanced Visual Odometry. Autonomous Robots. vol. 41, no. 1, pp. 31-43, 2017.
Author's homepage:
frc.ri.cmu.edu...