Spatial knowledge, a branch of cognitive science, seeks to understand and model how humans and animals perceive, interpret, mentally present, and interact with the spatial characteristics of their environment. In all species, the spatial knowledge is acquired through physical interaction with the environment, primarily via locomotion. This process arises from the interplay of sensory inputs and the cognitive strategies that guide movement. This chapter reviews the foundational concepts and evidences underpinning the spatial cognition, emphasizing the interaction between sensory data and mobility strategies. It explores the significance of sensory input in enabling both simple and complex navigation mechanisms which are the key cognitive processes for spatial learning. Neural evidence from humans and mammals reveals the brain mechanisms involved in the development and enhancement of spatial cognition. New computational models reported recently in the literature are also discussed, providing insights into how spatial representations are formed and used in human mobility. Finally, this chapter addresses the practical application of these concepts in mobility assistance for visually impaired people offering perspectives on adaptation spatial cognition theories to enhance their quality of life.