How is Pylot generating the HD Map from LIDAR?

[ritikonboard]

Hello Sir, currently I am trying to understand Pylot and how it is processing LIDAR data.
I wanted to know how pylot is generating the HD maps as it is mentioned in the official documentation that- When a HD Map is not available, Pylot attempts to build a naive map using its own components (e.g., lane detection, LiDAR). However, this feature is still in early stages, and not good enough for driving.

Can I get an idea about how this is happening? It will be really helpful to me.