What you want to do is called SLAM -- Simultaneous Locating And Mapping. Additionally, if you have both range sensors and Kinect sensors, you may want to do sensor fusion. However, Kinect may not work reliably outdoors in bright sunlight.
There are various approaches to do SLAM, some of which are implemented as modules in ROS.
Additionally, you will need some way for the robot to know how it's moving (odometry.) If you don't have sensors on your wheels, you will need to calculate this out of the readings you take from the environment, which will be really tricky when you also use those readings to build a map.