In view of the problems of typical unstructured. degraded characteristics and large-scale environment in coal mine tunnel. and the 3D reconstruction of coal mine tunnel is prone to low pose estimation accuracy and large cumulative drift error. a 3D reconstruction method of coal mine tunnel fused with lidar and inertial measurement unit (IMU) is proposed. https://www.ngetikin.com/great-pick-Borstlist-sjalvhaftande-Tesa-hot-grab/