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Simultaneous Localization and Mapping (SLAM) achieves the purpose ofsimultaneous positioning and map construction based on self-perception. Thepaper makes an overview in SLAM including Lidar SLAM, visual SLAM, and theirfusion. For Lidar or visual SLAM, the survey illustrates the basic type andproduct of sensors, open source system in sort and history, deep learningembedded, the challenge and future. Additionally, visual inertial odometry issupplemented. For Lidar and visual fused SLAM, the paper highlights themulti-sensors calibration, the fusion in hardware, data, task layer. The openquestion and forward thinking with an envision in 6G wireless networks end thepaper. The contributions of this paper can be summarized as follows: the paperprovides a high quality and full-scale overview in SLAM. It's very friendly fornew researchers to hold the development of SLAM and learn it very obviously.Also, the paper can be considered as a dictionary for experienced researchersto search and find new interesting orientation.

A Survey of Simultaneous Localization and Mapping with an Envision in 6G Wireless Networks