This data has been used in many existing inventions and even in many new inventions. This paper consists of a review of the current state of LiDAR technology and covers issues related to both data capturing and processing. In this paper, a discussion on different types of LiDAR sensors including LiDAR for autonomous vehicles was also done. It also explains existing data techniques and also gives a view of CNN (Convolutional Neural Networks). This paper also discusses the autonomous LiDAR technique in detail. The paper also discusses the future scope of technology.