The previous truth table, as we already know, shows that there are $3$ cases in which $E$ is true. This means that our Kmap will contain exactly three $1$s (the rest will be $0$s/empty cells.)
The Kmap for our example. Based on this website.
Tip: Note that the truth table rows with $1$s are $\#2$, $\#3$, and $\#7$, so we put our $1$s in the cells labeled with these exact numbers.