The availability of commercial wireless communication and sensing equipment combined with the advancements in intelligent autonomous systems scontribute to robust joint communications and simultaneous localization and mapping (SLAM). Autonomous vehicles are one of the several applications that directly benefit from millimeter-wave (mmWave) access, facilitating improved communications and accurate localization in the interest of control and navigation. This paper surveys the state-of-the-art in the intersection 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 geometric channel modeling, and radio frequency (RF)-based localization and sensing. Several research directions are considered, including the interpretation of SLAM as a unified perception-estimation framework driven by wireless communications-based positioning and visual information, the integration of communication-aware objectives in active perception, and multi-modal odometry through the fusion of wireless measurements and complementary sensing modalities. 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. Among other interesting findings, we observe that monocular V-SLAM might greatly benefit from RF/mmWave signals, as the latter can serve as a proxy for scale ambiguity resolution. Conversely, we find that wireless communications in the context of 5G and beyond can potentially benefit from visual odometry and landmark detection methods in the context of optimal geometric path prediction for wireless channels. Moreover, we examine other perception sources besides monocular vision for SLAM such as Radio SLAM, wireless fidelity (WiFi) SLAM, and light detection and ranging (LiDAR) SLAM, and describe a twofold relation with wireless communications. Finally, integrated solutions performing joint communications and localization appear to be in their infancy: theoretical and practical advancements could add higher-level localization and semantic perception capabilities to RF/mmWave and multi-antenna technologies.