总体来说，本文提出的算法具有一定的应用价值，构建的地图能反映出环境的实

In general, the algorithm proposed in this paper has certain application value. The constructed map can reflect the actual structure and details of the environment. In terms of operating efficiency, the algorithm adds a 3D point cloud. Compared with a pure 2D laser, The power requirements are high, but because the descriptor is used to describe the 3D point cloud, the algorithm can also meet the actual operating requirements in real-time.

In general, the proposed algorithm has a certain application value, the construction of the map can reflect the actual structure and details of the environment, in terms of operational efficiency, the algorithm because of the addition of 3D point cloud, compared to the pure 2D laser, the calculation force requirements are high, but due to the use of description sub-description 3D point cloud, the algorithm in real-time can also meet the actual operating requirements.

In general, the algorithm proposed in this paper has a certain application value. The map constructed can reflect the actual structure and details of the environment. In terms of operation efficiency, the algorithm requires high computational power compared with pure 2D laser due to the addition of 3D point cloud. However, due to the use of descriptors to describe 3D point cloud, the algorithm can also meet the actual operation requirements in real time.