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Simultaneous Localization and Mapping (SLAM) has always been a popular research direction in the field of mobile robots. It can provide robots with powerful environmental perception capabilities. If the traditional localization method relying on external location reference is not available, the mobile robot needs to locate its own position in time to build incremental maps. Therefore, SLAM technology comes into being. Introduced the current research status and the latest landmark achievements of laser SLAM and visual SLAM,and focus on discussing the multi-sensor fusion SLAM technology represented by camera and lidar fusion, camera and IMU fusion, and lidar and IMU fusion, and systematically sort out the advantages and disadvantages of several fusion methods. At the same time, the research hotspot of semantic SLAM in this field is introduced. Finally, the future development direction of SLAM technology in this field and the existing challenges are discussed.