On the back wall: One over the sink, with two doors and one shelf-surface. (Does one usually count the bottom surface of a cabinet as a shelf? I'm doing so.) One over the bit of counter space with the dishwasher under it, narrow, with one door and three shelves. One over the stove, with two doors and one shelf.

On the front wall: Two under the counter, two doors each, and each one has a half-depth shelf in addition to the bottom surface.

Some of how I do it is visualization, but some of it isn't - for the cabinets I don't usually notice by sight, it's more a kinesthetic, 'how would I position myself to get to this' kind of thing. I also asked myself 'if I had a thing to put away, where could I put it?', to help bring up the relevant information and make sure I didn't forget anything.