Abstract:Due to the present situation that the lack of quantitative accuracy evaluation method of laser SLAM technology in the field of underground mines. This paper analyzes the error from two aspects of positioning and mapping of laser SLAM technology, three quantitative accuracy evaluation methods are proposed, which are end-to-end positioning error, relative distance error, and absolute point position error as accuracy evaluation indexes. Combined the self-developed underground UAV 3D laser scanning system and typical test scenarios to test the accuracy of evaluation methods. The test results show that this laser SLAM system has centimeter-level mapping accuracy. Therefore, the quantitative accuracy evaluation methods of laser SLAM technology in the field of underground mines are given, which can provide references for academic research and engineering practice.