This research aims at the localization and mapping challenges in the GNSS-denied and non-structural environment and serves the 3D perception ability of the unmanned platform. More specifically, it consists of multi-constraints-based localization and mapping under the complex platform motion, collaborative reconstruction of human motion and environment (published in IEEE TPAMI, CVPR, AAAI, etc.). This research also won the Best Paper Award at the 2017 International Mobile Mapping Conference and the 2018 featured paper of ISPRS J P&RS.