The 3D maps are used for self-positioning estimation and path planning for the autonomous navigation of robots in urban areas. This paper presents a framework that generates globally consistent 3D maps from the pose graph of existing simultaneous localization and mapping (SLAM) methods. Our approach corrects a pose graph by performing a 3D alignment with building information on public... https://allfixelectricales.shop/product-category/fridge-crisper-bin/