[1] Lu J X, Fang Z J, Chen J Y et al. RGB-D visual odometry combined with points and lines[J]. Acta Optica Sinica, 41, 0415001(2021).

[2] Chen H, Yang K L, Hu W J et al. Semantic visual odometry based on panoramic annular imaging[J]. Acta Optica Sinica, 41, 2215002(2021).

[3] Cheng S Q. Research on SLAM algorithm of unmanned vehicle based on 3D lidar[D], 10-26(2021).

[4] Zong W P. Research on LiDAR based autonomous localization for mobile robots[D], 12-16(2020).

[5] Hua Z, Song J L, Du Z J et al. Based on filtering and graph optimization positioning and mapping system[J]. Electronic Measurement Technology, 45, 99-106(2022).

[6] Bai C Y, Wang J J, Cheng X X et al. Spatial positioning optimization of driverless wheelchair by fusion of laser SLAM[J]. Laser & Optoelectronics Progress, 59, 0228007(2022).

[7] Jiang L, Liu Q, Lei B et al. Identifying and constructing semantic map based on laser and vision fusion for improving localization performance[J]. Chinese Journal of Lasers, 49, 1810003(2022).

[8] Yan L, Ren D W, Xie H et al. Fusion method of LiDAR point cloud and dense matching point cloud[J]. Chinese Journal of Lasers, 49, 0910003(2022).

[9] Zong W P, Li G Y, Li M L et al. A survey of laser scan matching methods[J]. Chinese Optics, 11, 914-930(2018).

[10] Steder B, Rusu R B, Konolige K et al. Point feature extraction on 3D range scans taking into account object boundaries[C], 2601-2608(2011).

[11] Rusu R B, Blodow N, Beetz M. Fast point feature histograms (FPFH) for 3D registration[C], 3212-3217(2009).

[12] Zhang J, Singh S. Low-drift and real-time lidar odometry and mapping[J]. Autonomous Robots, 41, 401-416(2017).

[13] Deschaud J E. IMLS-SLAM: scan-to-model matching based on 3D data[C], 2480-2485(2018).

[14] Besl P J, McKay N D. A method for registration of 3-D shapes[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 14, 239-256(1992).

[15] Vlaminck M, Luong H, Philips W. Surface-based GICP[C], 262-268(2018).

[16] Biber P, Strasser W. The normal distributions transform: a new approach to laser scan matching[C], 2743-2748(2003).

[17] Magnusson M. The three­dimensional normal-distributions transform: an efficient representation for registration, surface analysis, and loop detection[D](2009).

[18] Koide K, Miura J, Menegatti E. A portable three-dimensional LIDAR-based system for long-term and wide-area people behavior measurement[J]. International Journal of Advanced Robotic Systems, 16, 1984153(2019).

[19] Xu Y W, Yan W X, Wu W. Improvement of LiDAR SLAM front-end algorithm based on local map in similar scenes[J]. Robot, 44, 176-185(2022).

[20] Zhu D H[M]. Point library PCL learning tutorial, 187(2012).

[21] Mur-Artal R, Montiel J M M, Tardós J D. ORB-SLAM: a versatile and accurate monocular SLAM system[J]. IEEE Transactions on Robotics, 31, 1147-1163(2015).

[22] Cadena C, Carlone L, Carrillo H et al. Past, present, and future of simultaneous localization and mapping: toward the robust-perception age[J]. IEEE Transactions on Robotics, 32, 1309-1332(2016).

[23] Hess W, Kohler D, Rapp H et al. Real-time loop closure in 2D LIDAR SLAM[C], 1271-1278(2016).

[24] Ou F, Li Y H, Miao Z H et al. Lidar odometry key frame selection based on displacement vector similarity[C], 3588-3593(2021).