【摘要】 SLAM通过传感器进行环境感知，可以实现移动机器人的实时定位与建图，并且可以在没有地标的情况下引导机器人。针对移动机器人使用激光雷达进行建图与定位的应用，围绕SLAM技术发展调研分析及近年来在此基础上演变而来的LIO-SAM技术的基本特点及优势进行介绍，并对基于激光雷达的SLAM算法的发展前景进行展望。更多还原

【Abstract】 SLAM uses sensors to sense the environment, realize real-time positioning and mapping of mobile robots, and guide robots without landmarks. Aiming at the application of mobile robots using lidar for mapping and positioning, this paper introduces the development of SLAM technology and the basic characteristics and advantages of LIO-SAM technology evolved on this basis in recent years, and prospects the development prospect of SLAM algorithm based on lidar.更多还原