1 INTRODUCTION Many different technologies like GPS and radar have been used to localize, to map environments and to detect objects over time those let vehicles to move. In this thesis, I analyze Lidar, especially in indoor, to let robots, drones, cars, etc. to move without a driver. One of the most popular sensor, the GPS, doesn’t give a good accuracy in dense urban environments because the signal availability changes over time, thus its potential for autonomous vehicles is limited; moreover, when it’s integrated with IMU, errors can be accumulated when the vehicle travels because the measured positions don’t follow the true position.