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 is mounted to the industrial vehicle and focused to a ceiling of a warehouse; the camera captures an input image of ceiling lights of the ceiling of the warehouse; and characterized in that the one or more processors execute machine readable instructions to determine a centerline (226, 250, 350) of a row of ceiling lights from a row of ceiling light features in the captured input image by extracting raw feature components from the captured input image, separating the extracted raw feature components into different classes of ceiling lights, extracting ceiling light features from the extracted raw feature components based on the ceiling light class into which the extracted raw feature components are separated, filtering out selected ones of the extracted ceiling light features not usable for determining the centerline (226, 250, 350), and determining the centerline (226, 250, 350) from the filtered ceiling light features, determine ceiling light corners by extracting raw feature components from the captured input image, selecting a usable portion of the ceiling lights for determining ceiling light corners, extracting ceiling light features from the extracted raw feature components in the usable portion of the ceiling lights, filtering out selected ones of the extracted ceiling light features not usable for determining the ceiling light corners, determining the ceiling light corners from the filtered ceiling light features, select a set of point fixes from the ceiling light corners, and navigate the industrial vehicle through the warehouse utilizing the centerline (226, 250, 350) and the set of point fixes. the camera is communicatively coupled to the one or more processors; the camera is mounted to the industrial vehicle and focused to a ceiling of a warehouse; the camera captures an input image of ceiling lights of the ceiling of the warehouse; and characterized in that the one or more processors execute machine readable instructions to determine a centerline (226, 250, 350) of a row of ceiling lights from a row of ceiling light features in the captured input image by extracting raw feature components from the captured input image, separating the extracted raw feature components into different classes of ceiling lights, extracting ceiling light features from the extracted raw feature components based on the ceiling light class into which the extracted raw feature components are separated, filtering out selected ones of the extracted ceiling light features not usable for determining the centerline (226, 250, 350), and determining the centerline (226, 250, 350) from the filtered ceiling light features, determine ceiling light corners by extracting raw feature components from the captured input image, selecting a usable portion of the ceiling lights for determining ceiling light corners, extracting ceiling light features from the extracted raw feature components in the usable portion of the ceiling lights, filtering out selected ones of the extracted ceiling light features not usable for determining the ceiling light corners, determining the ceiling light corners from the filtered ceiling light features, select a set of point fixes from the ceiling light corners, and navigate the industrial vehicle through the warehouse utilizing the centerline (226, 250, 350) and the set of point fixes. determine a centerline (226, 250, 350) of a row of ceiling lights from a row of ceiling light features in the captured input image by extracting raw feature components from the captured input image, separating the extracted raw feature components into different classes of ceiling lights, extracting ceiling light features from the extracted raw feature components based on the ceiling light class into which the extracted raw feature components are separated, filtering out selected ones of the extracted ceiling light features not usable for determining the centerline (226, 250, 350), and determining the centerline (226, 250, 350) from the filtered ceiling light features, determine ceiling light corners by extracting raw feature components from the captured input image, selecting a usable portion of the ceiling lights for determining ceiling light corners, extracting ceiling light features from the extracted raw feature components in the usable portion of the ceiling lights, filtering out selected ones of the extracted ceiling light features not usable for determining the ceiling light corners, determining the ceiling light corners from the filtered ceiling light features, select a set of point fixes from the ceiling light corners, and navigate the industrial vehicle through the warehouse utilizing the centerline (226, 250, 350) and the set of point fixes.