A mapping device based on SLAM is characterized in that the device comprises: a first image collection device used for collecting a first environment image, wherein the first environment image is image information of the top of a space needing mapping; a second image acquisition device which is used for acquiring a second environment image, wherein the second environment image is non-top image information of a space needing to be subjected to mapping; and a mapping module which is used for carrying out fusion processing on the first environment image and the second environment image to obtaina final environment image. According to the mapping device based on the SLAM, real-time operation can be achieved, more accurate poses can be provided, more abundant map information is created, and the advantages of the SLAM in positioning navigation and automatic obstacle avoidance are better exerted.