This paper presents the assessment of a wide-angle laser scanner and a simultaneous localisation and mapping (SLAM) algorithm to estimate the trajectory and generate a 3D map of the environment. A backpack platform composed of an OS0-128 Ouster (FoV 90° × 360°) laser scanner was used to acquire laser data in an area with urban and forest features. Web SLAM.... https://jalyttlers.shop/product-category/cheese-slicer/