Based on the research progress of Simultaneous Localization And Mapping (SLAM), this paper systematically summarizes the research on SLAM of mobile robot by reviewing the research methods of SLAM in the last thirty years and points out the three key problems. In view of these three problems, the methods of SLAM based on probability estimation and vision are introduced. Compared and summarized the SLAM method based on probability estimation, the development of vision-based SLAM method based on different characteristics of vision sensors is elaborated, and the development of vision-based SLAM method is described in detail. By analyzing the characteristics of different kinds of vision sensors, the pros and cons of each method are compared and analyzed, and the existing problems are discussed. Finally, the future development directions of SLAM are presented.