Simultaneous localization and Mapping technology has a very wide range of applications in the driveless field, and can reliably accomplish indoor and outdoor localization and mapping tasks. In this paper, we first give an overview of long-period localization, briefly describe the causes of static scene assumptions, discuss the effects of dynamic objects on mapping and localization, and use this as a basis to introduce the research objectives and current research status of long-period localization problems, so as to provide a theoretical basis for better promoting the research of long-period localization problems.