https://it.mathworks.com/help/lidar/ug/aerial-lidar-slam-using-fpfh-descriptors.html
Aerial Lidar SLAM Using FPFH Descriptors - MATLAB & Simulink
This example demonstrates how to implement the simultaneous localization and mapping (SLAM) algorithm for aerial mapping using 3-D features.
aerial lidarslamusingdescriptorsmatlab