Simultaneous localization and mapping (SLAM) is one of the key technologies for mobile robots to achieve autonomous driving. and the lidar SLAM algorithm is the mainstream research scheme. Firstly. this paper introduces the overall framework of lidar SLAM. https://www.spidertattooz.com/OPI-Nail-Lacquer-Combo-Base-Top-All-About-The-Bows-0-5-oz-HRL04-p26519/