System and method for constructing a map of an environment

A system for constructing a map of an environment, the system comprising:

• a measuring device comprising at least one lidar configured to acquire a point cloud representative of said environment in which the measuring device moves around,
• a processor configured to implement the following steps:
• pre-select a plurality of initial point sets from the point cloud, each initial point set of the plurality of initial point sets being representative of a potential area of interest in the environment,
• for each initial point set, search for a local correction to be made to a movement of the measuring device along each potential zone of interest represented by the initial point set under consideration, in order to determine whether each initial point set actually represents a zone of interest,
• jointly correct the initial point sets representing a zone of interest, by applying a global correction to a movement of the measuring device in the environment,
• build the map of the environment with the corrected initial point sets effectively representing an area of interest and the initial point sets not representing an area of interest.