In this paper a novel Simultaneous Localization and Mapping (SLAM) is presented. Using the sound as the input signal, instead of the classical vision or laser systems, leads to a SSLAM (sound SLAM) with a new features, such as the use of a Linear Parameter Varying (LPV) Kalman filter rather than the classical Extended Kalman filter. The other novelty is the modeling of sound reverberation using LPV models. The work is an extension under development from previous research group’s works. The experimental partial results and the theoretical developments encourage authors to follow this unexplored line of SSLAM.