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Simultaneous Localisation and Mapping (SLAM) is the key technology of mobile robot navigation. In this field, visual SLAM (VSLAM) has become a research hotspot in recent years. This article discusses the Lidar and visual SLAM algorithms, including: introduction on commonly used solutions and improvements of the Lidar SLAM algorithm and exploring related difficulties, the characteristics of monocular, binocular and RGB-D cameras in VSLAM, the ORB-SLAM2 system based on the feature extractiondoi:10.1504/ijccps.2021.113103 fatcat:nuhj2zlfhjg4flrbykkfqzvwuy