1. A method of operating a robot, comprising: extracting features from a sensor signal responsive to receiving the sensor signal from a sensor; determining one or more portions of the sensor signal likely to include one or more entities based on the extracted features; detecting one or more entities in the sensor signal by processing the one or more portions of the sensor signal; generating entity information indicating characteristics of each of the detected entities; determining a location of each of the detected entities relative to the robot in a panoramic map at least partially surrounding the robot based on the entity information, the location of each of the detected entities represented by a coordinate in the panoramic map; and controlling the robot to perform an action based on the detected entities and the location determined for each of the detected entities.