An industrial vehicle comprising a camera and one or more processors, wherein: the camera is communicatively coupled to the one or more processors; the camera captures an input image of ceiling lights of the ceiling of a warehouse; and the one or more processors execute machine readable instructions to: associate raw features of the ceiling lights of the input image with one or more feature groups; execute a Hough transform to transform the raw features of the one or more feature groups into line segments associated with the one or more feature groups; determine a convex hull of the raw features of the one or more feature groups; compare the line segments of the one or more feature groups and the convex hull in Hough space; discard the line segments of the one or more feature groups that are outside of a threshold of similarity to the convex hull of the raw features of the one or more feature groups, whereby a preferred set of lines is selected for the one or more feature groups from the line segments of the one or more feature groups; determine a centerline of the one or more feature groups from the preferred set of lines; associate the centerline of the one or more feature groups with one of the ceiling lights of the input image; and navigate the industrial vehicle through the warehouse utilizing the centerline of the one or more feature groups. the camera is communicatively coupled to the one or more processors; the camera captures an input image of ceiling lights of the ceiling of a warehouse; and the one or more processors execute machine readable instructions to: associate raw features of the ceiling lights of the input image with one or more feature groups; execute a Hough transform to transform the raw features of the one or more feature groups into line segments associated with the one or more feature groups; determine a convex hull of the raw features of the one or more feature groups; compare the line segments of the one or more feature groups and the convex hull in Hough space; discard the line segments of the one or more feature groups that are outside of a threshold of similarity to the convex hull of the raw features of the one or more feature groups, whereby a preferred set of lines is selected for the one or more feature groups from the line segments of the one or more feature groups; determine a centerline of the one or more feature groups from the preferred set of lines; associate the centerline of the one or more feature groups with one of the ceiling lights of the input image; and navigate the industrial vehicle through the warehouse utilizing the centerline of the one or more feature groups. associate raw features of the ceiling lights of the input image with one or more feature groups; execute a Hough transform to transform the raw features of the one or more feature groups into line segments associated with the one or more feature groups; determine a convex hull of the raw features of the one or more feature groups; compare the line segments of the one or more feature groups and the convex hull in Hough space; discard the line segments of the one or more feature groups that are outside of a threshold of similarity to the convex hull of the raw features of the one or more feature groups, whereby a preferred set of lines is selected for the one or more feature groups from the line segments of the one or more feature groups; determine a centerline of the one or more feature groups from the preferred set of lines; associate the centerline of the one or more feature groups with one of the ceiling lights of the input image; and navigate the industrial vehicle through the warehouse utilizing the centerline of the one or more feature groups.