这些工作主要围绕着原版本的几个不足展开：没有回环，没有图优化，线性运动假设简单，松耦合IMU，特征提取简单，动态物体去除
| 主要改进 | 文章 | 发表 | 作者 | 主要内容 |
|---|---|---|---|---|
| 初始 | LOAM: Lidar Odometry and Mapping in Real-time | RSS 2014 | Ji Zhang and Sanjiv Singh | 基本，IMU松耦合 |
| 紧耦合 | Visual-lidar Odometry and Mapping: Low-drift, Robust, and Fast | ICRA 2015 | Ji Zhang and Sanjiv Singh | 加视觉紧耦合 |
| Laser–visual–inertial odometry and mapping with high robustness and low drift | JFR 2017 | Ji Zhang and Sanjiv Singh | 加IMU紧耦合，分析了退化场景下的耦合方法 | |
| Tightly Coupled 3D Lidar Inertial Odometry and Mapping | ICRA 2019 | Haoyang Ye1, Yuying Chen1 and Ming Liu1 | 紧耦合IMU，同时有局部图优化，在线标定外参，高动态场景有较大提升 | |
| LIC-Fusion: LiDAR-Inertial-Camera Odometry | IROS 2019 | Xingxing Zuo∗, Patrick Genevayy, Woosik Leey, Yong Liu∗, and Guoquan Huangy | 紧耦合IMU，视觉和激光，基于滤波框架MSCKF | |
| R-LINS: A Robocentric Lidar-Inertial State Estimator for Robust and Efficient Navigation | ICRA 2020 | Chao Qin, Haoyang Ye, Christian E. Pranata, Jun Han, Shuyang Zhang, and Ming Liu | ESKF 耦合IMU | |
| Robust High Accuracy Visual-Inertial-Laser SLAM System | IROS 2019 | Zengyuan Wang1, Jianhua Zhang1, Shengyong Chen2, Conger Yuan1, Jingqian Zhang1 and Jianwei Zhang3 | 紧耦合视觉IMU，整合VINS和LOAM，也有回环 | |
| A Joint Optimization Approach of LiDAR-Camera Fusion for Accurate Dense 3D Reconstructions | IROS 2019 | Weikun Zhen Yaoyu Hu Jingfeng Liu Sebastian Scherer | 三维重建，紧耦合视觉，更加细致地处理了外参计算问题 | |
| 特征提取 | "LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain" | IROS 2018 | "Tixiao Shan and Brendan Englot" | 地面划分从而滤除噪声特征点，在有植被时表现明显更加鲁棒，优化问题拆成两个部分计算，减少了迭代步数 |
| "A Robust Laser-Inertial Odometry and Mapping Method for Large-Scale Highway Environments" | IROS 2019 | "Shibo Zhao1, Zheng Fang1, HaoLai Li1, Sebastian Scherer2" | CNN去除动态车辆，基于ESKF耦合IMU，mapping使用NDT，解决高速路运动快、车辆多的场景 | |
| "Loam livox: A fast, robust, high-precision LiDAR odometry and mapping package for LiDARs of small FoV" | ICRA 2019 | Jiarong Lin and Fu Zhang | 解决小FOV雷达应用场景，在动态滤除，特征点，运动补偿上做了改进 | |
| "IN2LAMA: INertial Lidar Localisation And MApping" | ICRA 2019 | "Cedric Le Gentil, Teresa Vidal-Calleja and Shoudong Huang" | 离线，特征提取更加耐心细致，对IMU进行上采样，并且紧耦合，从而更好的去除畸变 | |
| 闭环 | LLOAM: LiDAR Odometry and Mapping with Loopclosure Detection Based Correction " | 2019 IEEE International Conference on Mechatronics and Automationn | Xingliang Ji, Lin Zuo, Changhua Zhang, Yu Liu | 加闭环 |
| "Optimized LOAM Using Ground Plane Constraints and SegMatch-Based Loop Detection" | Sensors | "Xiao Liu 1,2, Lei Zhang 2, Shengran Qin 2,3, Daji Tian 2, Shihan Ouyang 2,3 and Chu Chen 1,2" | 添加基于segmatch的闭环，和地面约束 | |
| "Trajectory Optimization of LiDAR SLAM Based on Local Pose Graph" | China Satellite Navigation Conference (CSNC) 2019 | Chunxu Chen | 在LOAM后端加了位置图优化，效果有一定的提升 |
整理 by： 阮建源