I don't think they're using lidar, but I don't know much about it. However your comment made me think of this awesome article about Google maps and 3d building

I don't think they're using lidar, but I don't know much about it. However your comment made me think of this awesome article about Google maps and 3d buildings https://www.justinobeirne.com/google-maps-moat https://www.justinobeirne.com/google-maps-moat