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In the era of sixth-generation (6G) wireless communications, integratedsensing and communications (ISAC) is recognized as a promising solution toupgrade the physical system by endowing wireless communications with sensingcapability. Existing ISAC is mainly oriented to static scenarios withradio-frequency (RF) sensors being the primary participants, thus lacking acomprehensive environment feature characterization and facing a severeperformance bottleneck in dynamic environments. To date, extensive surveys onISAC have been conducted but are limited to summarizing RF-based radar sensing.Currently, some research efforts have been devoted to exploring multi-modalsensing-communication integration but still lack a comprehensive review.Therefore, we generalize the concept of ISAC inspired by human synesthesia toestablish a unified framework of intelligent multi-modal sensing-communicationintegration and provide a comprehensive review under such a framework in thispaper. The so-termed Synesthesia of Machines (SoM) gives the clearest cognitionof such intelligent integration and details its paradigm for the first time. Wecommence by justifying the necessity of the new paradigm. Subsequently, weoffer a definition of SoM and zoom into the detailed paradigm, which issummarized as three operation modes. To facilitate SoM research, we overviewthe prerequisite of SoM research, i.e., mixed multi-modal (MMM) datasets. Then,we introduce the mapping relationships between multi-modal sensing andcommunications. Afterward, we cover the technological review onSoM-enhance-based and SoM-concert-based applications. To corroborate thesuperiority of SoM, we also present simulation results related to dual-functionwaveform and predictive beamforming design. Finally, we propose some potentialdirections to inspire future research efforts.

Intelligent Multi-Modal Sensing-Communication Integration: Synesthesia of Machines