LiDAR systems on moving devices are getting better at making maps in real-time. New 3D laser scanners are fast but tricky to process, especially for mapping while moving. Different algorithms have been made to handle this, like A-LOAM, ISCLOAM, and LeGO-LOAM. These were tested using a KITTI database with different routes and environments. The tests looked at how fast the methods were, how accurate they were, and how much they got wrong. The results are available online for anyone to see.