Nowadays, there is a clear increase in the number of people who have functional difficulties, which impairs their dignity, comfort, and health daily. In this way, research centers have focused on the development of assistive technologies to minimize the impact imposed by physical limitations. A subject of study is the robotization of the wheelchair, to make them safer for the user, giving control to the vehicle in situations where intervention is required. The first point to be studied is the location and mapping system (SLAM), allowing the chair to understand where it is in the world and its surround, to make the most appropriate decision. This work proposes to implement the EKF-SLAM algorithm, to solve this problem, using more than one type of landmark, extracting information from Lidar 2D and artificial markers (ArUco).