Light Detection and Ranging (LiDAR) technology has been widely used in forestry surveys in the form of airborne laser scanning (ALS), terrestrial laser scanning (TLS), and mobile laser scanning (MLS). The acquisition of important basic tree parameters (e.g., diameter at breast height and tree position) in forest inventory did not solve the problem of low measurement efficiency or weak GNSS signal under the canopy. A personal laser scanning (PLS) device combined with SLAM technology provides an effective solution for forest inventory under complex conditions with its light weight and flexible mobility. This study proposes a new method for calculating the volume of a cylinder using point cloud data obtained by a PLS device by fitting to a polygonal cylinder to calculate the diameter of the trunk. The point cloud data of tree trunks of different thickness were modeled using different fitting methods. The rate of correct tree trunk detection was 93.3% and the total deviation of the estimations of tree diameter at breast height (DBH) was -1.26 cm. The root mean square errors (RMSEs) of the estimations of the extracted DBH and the tree position were 1.58 cm and 26 cm, respectively. The survey efficiency of the personal laser scanning (PLS) device was 30m2/min for each investigator, compared with 0.91m2/min for the field survey. The test demonstrated that the PLS device combined with the SLAM algorithm provides an efficient and convenient solution for forest inventory.