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The technology of Simultaneous Localization And Mapping（SLAM）is the hot and difficult point of current research. It is one of the key technologies to realize unmanned driving. The paper introduction is centered on the principle, basic structure, sensors used and map types of SLAM and analyzes the advantages, disadvantages and scope of application of various fusion methods. Secondly, according to the different fusion methods used, it introduces the current status of research at home and abroad, and points out its worthwhile affirmation and continuation of the technology as well as shortcomings. Finally, it summarizes the current problems of multi-sensor fusion unmanned SLAM research, analyzes the research difficulties and puts forward suggestions on the possible development direction of future research, with the aim of providing references for the development of unmanned driving.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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