*Review* **A Review of Multi-Sensor Fusion SLAM Systems Based on 3D LIDAR**

**Xiaobin Xu 1,2,\*,†, Lei Zhang 1,2,†, Jian Yang 3, Chenfei Cao 1,2, Wen Wang 1,2, Yingying Ran 1,2, Zhiying Tan 1,2 and Minzhou Luo 1,2**


**Abstract:** The ability of intelligent unmanned platforms to achieve autonomous navigation and positioning in a large-scale environment has become increasingly demanding, in which LIDAR-based Simultaneous Localization and Mapping (SLAM) is the mainstream of research schemes. However, the LIDAR-based SLAM system will degenerate and affect the localization and mapping effects in extreme environments with high dynamics or sparse features. In recent years, a large number of LIDAR-based multi-sensor fusion SLAM works have emerged in order to obtain a more stable and robust system. In this work, the development process of LIDAR-based multi-sensor fusion SLAM and the latest research work are highlighted. After summarizing the basic idea of SLAM and the necessity of multi-sensor fusion, this paper introduces the basic principles and recent work of multi-sensor fusion in detail from four aspects based on the types of fused sensors and data coupling methods. Meanwhile, we review some SLAM datasets and compare the performance of five open-source algorithms using the UrbanNav dataset. Finally, the development trend and popular research directions of SLAM based on 3D LIDAR multi-sensor fusion are discussed and summarized.

**Keywords:** SLAM; LIDAR; multi-sensor fusion; coupling methods
