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Oceans cover approximately 71% of the Earth’s surface and contain 97% of the planet’s total water resources. However, over 80% of the ocean remains unexplored and unmapped. Thus, the research of underwater detection technology and the development of underwater detection equipment are crucial to marine scientific research and development. Underwater Lidar detection technology has the advantages of high ranging accuracy, high spatial resolution and strong anti-interference ability compared with traditional sonar and other technologies. It is an important underwater information acquisition method and has been widely concerned by researchers. This technology is used in submarine topographic mapping, marine rights and interests maintenance, marine resources development and other fields. In this article, firstly, the detection principles of various underwater detection Lidar systems are described, including the time-of-flight detection principle based on the linear detection regime and the photon counting detection regime, and the laser line scanning detection principle, as well as the laser line scanning detection principle. Additionally, the development history of various underwater detection Lidar systems is summarized and sorted out, including Spaceborne Lidar, Airborne Lidar and Underwater Vehicle Mounted Lidar. In addition, the technical characteristics, advantages and disadvantages of the Lidar underwater detection systems under different mounted platforms are compared and analyzed. Generally speaking, Lidar underwater detection system has been fully developed and tends to be mature, and has been widely used in many fields of underwater detection, making up for the gaps in many fields of marine information detection, and gradually forming commercialized products and entering into operational observation. With the continuous progress of laser technology, detection technology, information processing technology and the development of artificial intelligence, deep learning and other high-end fields, the development of Lidar underwater detection system also tends to be intelligent, automated and miniaturized.
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