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SLAM can be categorized into two groups: laser-based SLAM and visual-based SLAM. They are used to identify surrounded objects of a robot. This paper proposes a combination of visual-based SLAM algorithm and laser-based SLAM. The purpose is to reduce effort but still provides the high quality 3D-reconstructed map. First, this paper presents visual-based SLAM and laser-based SLAM separately. Then, two techniques are integrated into one system. In addition, bi-direction RRT* path planningdoi:10.12700/aph.18.6.2021.6.11 fatcat:rzgvmqjvebfalegtpoldv5p5x4