Disclosed are various embodiments for a system, devices, and methods for simultaneous localization and mapping in a high- and low-frequency dynamic environment. One exemplary embodiment relates to a method that includes generating a first SLAM map of the environment; generating a second SLAM map of a portion of the environment at least in part from visual feature data received from a first client device located in the portion of the environment; receiving a localization signal from a second client device indicating the location of the client device; sending, in response to the localization signal, data that includes a minimum number of map points that a SLAM process on the second client device should be able to detect in the portion of environment.