# When Simultaneous Localization and Mapping Meets Wireless Communications: A Survey

arXiv: https://arxiv.org/abs/2602.06995 · HTML: https://mlsanity.com/paper/2602.06995/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 49 of its 158 references that are in the map.
- First posted on arXiv 28 Jan 2026.

## Builds on (most cited first, 30 of 49)

- [ORB-SLAM: a Versatile and Accurate Monocular SLAM System](https://mlsanity.com/paper/1502.00956/) (2015)
- [ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras](https://mlsanity.com/paper/1610.06475/) (2016)
- [FlowNet 2.0: Evolution of Optical Flow Estimation with Deep Networks](https://mlsanity.com/paper/1612.01925/) (2016)
- [PointRend: Image Segmentation as Rendering](https://mlsanity.com/paper/1912.08193/) (2019)
- [Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age](https://mlsanity.com/paper/1606.05830/) (2016)
- [DynaSLAM: Tracking, Mapping and Inpainting in Dynamic Scenes](https://mlsanity.com/paper/1806.05620/) (2018)
- [Integrated Sensing and Communications: Towards Dual-functional Wireless Networks for 6G and Beyond](https://mlsanity.com/paper/2108.07165/) (2021)
- [A Tutorial on Environment-Aware Communications via Channel Knowledge Map for 6G](https://mlsanity.com/paper/2309.07460/) (2023)
- [Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems](https://mlsanity.com/paper/2106.14386/) (2021)
- [DOOR-SLAM: Distributed, Online, and Outlier Resilient SLAM for Robotic Teams](https://mlsanity.com/paper/1909.12198/) (2019)
- [Swarm-SLAM : Sparse Decentralized Collaborative Simultaneous Localization and Mapping Framework for Multi-Robot Systems](https://mlsanity.com/paper/2301.06230/) (2023)
- [LIFT-SLAM: a deep-learning feature-based monocular visual SLAM method](https://mlsanity.com/paper/2104.00099/) (2021)
- [Millimeter Wave Cellular Wireless Networks: Potentials and Challenges](https://mlsanity.com/paper/1401.2560/) (2014)
- [A Survey on Fundamental Limits of Integrated Sensing and Communication](https://mlsanity.com/paper/2104.09954/) (2021)
- [A Survey on Approximate Edge AI for Energy Efficient Autonomous Driving Services](https://mlsanity.com/paper/2304.14271/) (2023)
- [A Survey on Mobile Edge Networks: Convergence of Computing, Caching and Communications](https://mlsanity.com/paper/1703.10750/) (2017)
- [Real-time Outdoor Localization Using Radio Maps: A Deep Learning Approach](https://mlsanity.com/paper/2106.12556/) (2021)
- [Digital Twin-Enhanced Wireless Indoor Navigation: Achieving Efficient Environment Sensing with Zero-Shot Reinforcement Learning](https://mlsanity.com/paper/2306.06766/) (2023)
- [When Wireless Communications Meet Computer Vision in Beyond 5G](https://mlsanity.com/paper/2010.06188/) (2020)
- [A Review of Indoor Millimeter Wave Device-based Localization and Device-free Sensing Technologies and Applications](https://mlsanity.com/paper/2112.05593/) (2021)
- [ACHORD: Communication-Aware Multi-Robot Coordination with Intermittent Connectivity](https://mlsanity.com/paper/2206.02245/) (2022)
- [A Tutorial on 5G Positioning](https://mlsanity.com/paper/2311.10551/) (2023)
- [Millimeter-wave Mobile Sensing and Environment Mapping: Models, Algorithms and Validation](https://mlsanity.com/paper/2102.11593/) (2021)
- [PMBM-based SLAM Filters in 5G mmWave Vehicular Networks](https://mlsanity.com/paper/2205.02502/) (2022)
- [Robust Lifelong Indoor LiDAR Localization using the Area Graph](https://mlsanity.com/paper/2308.05593/) (2023)
- [Game Theory for Multi-Access Edge Computing: Survey, Use Cases, and Future Trends](https://mlsanity.com/paper/1704.00323/) (2017)
- [Collaborative SLAM based on Wifi Fingerprint Similarity and Motion Information](https://mlsanity.com/paper/2001.02759/) (2019)
- [Data Fusion for Multipath-Based SLAM: Combining Information from Multiple Propagation Paths](https://mlsanity.com/paper/2211.09241/) (2022)
- [Joint Beam Management and SLAM for mmWave Communication Systems](https://mlsanity.com/paper/2307.07936/) (2023)
- [Vehicle Cameras Guide mmWave Beams: Approach and Real-World V2V Demonstration](https://mlsanity.com/paper/2308.10362/) (2023)

## Abstract (arXiv)

This paper surveys the state-of-the-art in the nexus of SLAM and Wireless Communications, attributing the bidirectional impact of each with a focus on visual SLAM (V-SLAM) integration. We provide an overview of key concepts related to wireless signal propagation, geometric channel modeling, and radio frequency (RF)-based localization and sensing. In addition to this, we show image processing techniques that can detect landmarks, proactively predicting optimal paths for wireless channels. Several dimensions are considered, including the prerequisites, techniques, background, and future directions and challenges of the intersection between SLAM and wireless communications. We analyze estimation and control approaches such as Bayesian filters, feature-based pose estimation, perception-aware motion control, spatial methods for signal processing such as vector fields, and key technological aspects. We expose techniques and items towards enabling a highly effective retrieval of the autonomous robot state. Among other interesting findings, we observe that monocular V-SLAM would benefit from RF relevant information, as the latter can serve as a proxy for the scale ambiguity resolution. Conversely, we find that wireless communications in the context of 5G and beyond can potentially benefit from visual odometry that is central in SLAM. Moreover, we examine other sources besides the camera for SLAM and describe the twofold relation with wireless communications. Finally, integrated solutions performing joint communications and SLAM appear to be in their infancy: theoretical and practical advancements are required to add higher-level localization and semantic perception capabilities to RF and multi-antenna technologies.