How do Robots map an environment? Welcome to the SLAM Algorithm. The wheel encoder and IMU tracks rotation and movement. The LIDAR and RGB-D sensors capture data from the environment. Noisy data is filtered using a formula that predicts the Robot's position versus landmarks (known as Kalman Filter). This information is fused using the onboard computing device, which helps optimize drift from the IMU. During the mapping process, the Robot constantly checks is it has revisited