A LIDAR-based mapping method, device and system are provided. The method includes: acquiring two initial data frames corresponding to adjacent scanning periods respectively; extracting point, line and surface features from the two initial data frames respectively according to a first preset algorithm, calculating, based on the features extracted from the two initial data frames, a first transformation matrix according to a second preset algorithm and performing registration between the two initial data frames; extracting point, line and surface features from the two intermediate data frames respectively according to the first preset algorithm and performing a second registration; and transforming a local coordinate data frame in a local coordinate system obtained via the second registration as a frame in a global coordinate system and updating the map.