Fig. 1. Overall framework of the proposed algorithm

Fig. 2. Curved surface diagrams

Fig. 3. Diagrams of the feature points extracted from the KITTI dataset. (a) Real scene; (b) LIO-SAM; (c) proposed algorithm

Fig. 4. Diagrams of the feature points extracted from the self collected dataset. (a) Real scene; (b) LIO-SAM; (c) proposed algorithm

Fig. 5. Feature matching diagrams. (a) Only use corner and plane points; (b) add surface points

Fig. 6. Data collection platform

Fig. 7. Satellite map of the experimental area

Fig. 8. Global trajectory diagrams of the KITTI05 dataset

Fig. 9. Global trajectory diagrams of the KITTI10 dataset

Fig. 10. Curve comparison of the absolute trajectory error. (a) KITTI05; (b) KITTI07; (c) KITTI10

Fig. 11. Comparison of mapping effects on self collected datasets. (a) LIO-SAM; (b) proposed algorithm