1 Introduction  
2 LiDAR Preliminary  
2.1 Light Detection and Ranging  
2.2 LiDAR Categorization  
3 LiDAR-Only Odometry  
3.1 Direct Matching  
3.2 Feature-based Matching  
3.3 Deep Learning-based Matching  
4 LiDAR-Inertial Odometry  
4.1 Loosely-coupled Approaches  
4.2 Tightly-coupled Approaches  
5 Multiple LiDARs  
6 Fusion with Other Sensors  
7 Remaining Challenges  
7.1 LiDAR Inherent Problems  
7.2 Heterogeneous LiDARs  
7.3 Degenerative Environment  
7.4 Degraded Environment  
7.5 Multi-Modal Sensors  
8 Datasets & Evaluation  
8.1 Public Datasets  
8.2 Evaluation  
8.3 Benchmark Results  
9 Conclusion