This objective of the ARLI project is to develop an autonomous Unmanned Ground Vehicle (UGV) that can supply municipalities with a digital twin of the city. The digital twin is to be continuously updated and will serve as a tool for detection and planning of several service- and maintenance related task. In the project, a UGV will be integrated with a LiDAR sensor, that makes accurate 3D measurements of the surroundings. The LiDAR will be fused with an RTK-GNSS and Inertial Navigation System (INS) such the UGV position and attitude can be reliable determined. The fusion of sensors will utilize advanced LiDAR Odometry And Mapping (LOAM) algorithms, such that the UGV can navigate safely in GNSS denied environments.