Light detection and ranging (LiDAR) is often combined with an inertial measurement unit (IMU) to get the LiDAR inertial odometry (LIO) for robot localization and mapping. In order to apply LIO efficiently and non-specialistically. self-calibration LIO is a hot research topic in the related community. Spinning LiDAR (SLiDAR). https://fitnessgravesyardes.shop/product-category/lift-arm-wheel/