Bedkowski, JanuszMatecki, MarcinPelka, MichalMajek, KarolFitri, TresyaKostrzewa, A.Campana, StefanoFerdani, DanieleGraf, HolgerGuidi, GabrieleHegarty, ZackaryPescarin, SofiaRemondino, Fabio2025-09-052025-09-052025978-3-03868-277-6https://doi.org/10.2312/dh.20253026https://diglib.eg.org/handle/10.2312/dh20253026This paper describes an open source project https://github.com/MapsHD/HDMapping for large-scale 3D mapping using an open-hardware hand-held LiDAR measurement device available at https://github.com/JanuszBedkowski/mandeye_controller in application of large-scale heritage scenes acquisition and digitization. It implements multi view terrestrial laser scanning algorithms, LiDAR odometry, Pose Graph SLAM (Simultaneous Localisation and Mapping), NDT (Normal Distributions Transform) and ICP (Iterative Closest Point). Mobile mapping systems is based on LiVOX MID360 - laser scanner with non repetitive scanning pattern equipped with equirectangular camera. This project runs from 2023, the current version v0.76 has significant improvements in lidar odometry and georeferencing. The goal of the project is to provide an affordable mobile mapping system and an open source software that can be widely used also by Culture Heritage community.Attribution 4.0 International LicenseCCS Concepts: Computing methodologies → LiDAR odometry, ICP, NDT, Pose GRAPH SLAM; Hardware → LiDAR LiVOX MID360, camera Insta360 X4Computing methodologies → LiDAR odometryICPNDTPose GRAPH SLAMHardware → LiDAR LiVOX MID360camera Insta360 X410.2312/dh.2025302610 pages