Fig. 1. Graph structure improved algorithm factor

Fig. 2. Experimental platform and system framework for mapping based on fusion of lidar and IMU

Fig. 3. Improved algorithm building process and renderings

Fig. 4. Comparison of rendering before and after improvement of Fast-LIO2

Fig. 5. SLAM pose estimation

Fig. 6. Error analysis of SLAM trajectory estimation

Fig. 7. Loopback detection error analysis

Fig. 8. Absolute error distribution

Fig. 9. Comparison of APE error of double speed experiment

Fig. 10. Point cloud map and Z-axis map analysis result

Fig. 11. Process of fitting line information extraction

Fig. 12. Discrete distribution analysis of point cloud

Fig. 13. [in Chinese]