Background: In this paper, we describe the design of a virtual environment (VE) using Simultaneous Localization and Mapping (SLAM) to scan and replicate a real environment (RE) in a virtual domain. Compared to using a CAD software, SLAM allows for the replication of an RE quite easily and quickly. Methods: To test the user's performance in a SLAM-based VE, we developed an immersive virtual reality setup using a specialized wheelchair (VRNChair) and a head mounted display (Oculus Rift DK2), and employed a knowledge transfer paradigm to investigate navigational performance differences in an RE and its replica in a VE. Our hypothesis was knowledge