A processor implemented method, comprising: obtaining and representing a two-dimensional environment into a hexagonal grid map, wherein the hexagonal grid map comprises a plurality of hexagonal grid cells; identifying one or more objects based on a comparison of Red Green Blue value associated with a plurality of two or more contiguous cells from the plurality of hexagonal grid cells, wherein the one or more objects are identified based on number of hexagonal centers and distance of center of each hexagonal grid cell from center of one or more hexagonal grid cells; identifying one or more candidate contexts based on a tuple created for the identified one or more objects, wherein the created tuple comprises an annotation, side of bounding square, a template shape, and a variance in the RGB value of the identified one or more objects, wherein the identified one or more candidate contexts is one or more environments comprising the identified one or more objects, and wherein each element in the created context tuple is a probability value of the identified one or more objects in the identified one or more candidate contexts; iteratively performing a comparison of the hexagonal grid map with one or more pre-stored hexagonal grid maps, wherein the hexagonal grid map is transformed to one or more variations using at least one of a rotation technique, by rotating the hexagonal grid map at one or more angles, an affine transformation technique or a topological transformation technique and iteratively compared with the one or more pre-stored hexagonal grid maps obtained from a map database to determine a Spatial Similarity Quotient, and wherein the Spatial Similarity Quotient is indicative of degree of overlap of the hexagonal grid map with at least one of the one or more pre-stored hexagonal grid maps; identifying one or more contexts from the one or more candidate contexts based on the determined spatial similarity quotient; and dynamically planning a path for vector navigation within the hexagonal grid map based on the one or more objects, and the identified one or more contexts. obtaining and representing a two-dimensional environment into a hexagonal grid map, wherein the hexagonal grid map comprises a plurality of hexagonal grid cells; identifying one or more objects based on a comparison of Red Green Blue value associated with a plurality of two or more contiguous cells from the plurality of hexagonal grid cells, wherein the one or more objects are identified based on number of hexagonal centers and distance of center of each hexagonal grid cell from center of one or more hexagonal grid cells; identifying one or more candidate contexts based on a tuple created for the identified one or more objects, wherein the created tuple comprises an annotation, side of bounding square, a template shape, and a variance in the RGB value of the identified one or more objects, wherein the identified one or more candidate contexts is one or more environments comprising the identified one or more objects, and wherein each element in the created context tuple is a probability value of the identified one or more objects in the identified one or more candidate contexts; iteratively performing a comparison of the hexagonal grid map with one or more pre-stored hexagonal grid maps, wherein the hexagonal grid map is transformed to one or more variations using at least one of a rotation technique, by rotating the hexagonal grid map at one or more angles, an affine transformation technique or a topological transformation technique and iteratively compared with the one or more pre-stored hexagonal grid maps obtained from a map database to determine a Spatial Similarity Quotient, and wherein the Spatial Similarity Quotient is indicative of degree of overlap of the hexagonal grid map with at least one of the one or more pre-stored hexagonal grid maps; identifying one or more contexts from the one or more candidate contexts based on the determined spatial similarity quotient; and dynamically planning a path for vector navigation within the hexagonal grid map based on the one or more objects, and the identified one or more contexts.