Simultaneous Localization and Mapping(SLAM) technology is the main technical support of autonomous mobile robot and has become a research hotspot today.The development history and main sensors of SLAM technology are introduced, then the SLAM technology based on vision, lidar and multi-sensor fusion is sorted out, and the common SLAM algorithms are summarized.The advantages and disadvantages of each implementation scheme are compared and analyzed.Finally, the technical problems and development trends of SLAM are discussed.