This paper presents an enhanced Simultaneous Localization and Mapping (SLAM) framework for mobile robot navigation. It integrates RGB-D cameras and 2D LiDAR sensors to improve both mapping accuracy and localization efficiency. We propose a data fusion strategy where RGB-D point clouds are projected into 2D and denoised alongside LiDAR data. https://www.scrapajul.com/product-category/lotion-or-cream/