Is there a free mapping software for high-precision maps based on lidar point cloud data and GPS?

An autonomous driving platform is being built recently. I need to create a high-resolution map myself. I installed 128-line lidar and high-precision inertial navigation system, but I don’t know how to use which tools to create a high-precision map. Is there a free mapping software for high-precision maps based on lidar point cloud data and GPS latitude and longitude information? Can Matlab do this?