An autonomous mobile device, AMD, comprising: a depth sensor; an image sensor; one or more memories storing computer-executable instructions; and one or more processors configured to execute the computer-executable instructions to: determine, using the depth sensor, point cloud data indicative of one or more objects within a physical space; determine, based on the point cloud data, first object data indicative of a first location of a first object of the one or more objects, the first location being associated with a first set of coordinates; acquire, using the image sensor, image data of a portion of the physical space; determine, based on the image data, second object data indicative of a second object disposed at a second location in the physical space, the second location being associated with a second set of coordinates; characterized in that, when executing the computer-executable instructions, the one or more processors are further configured to: determine, using the first set of coordinates and the second set of coordinates, whether the first object and the second object are indicative of a same object; and upon a determination that the first object and the second object are indicative of the same object: determine, based on the first object data and the second object data, whether the same object is non-stationary; and use information gathered about the physical space, comprising whether the same object is non-stationary, to determine a map for the AMD to use for navigation. a depth sensor; an image sensor; one or more memories storing computer-executable instructions; and one or more processors configured to execute the computer-executable instructions to: determine, using the depth sensor, point cloud data indicative of one or more objects within a physical space; determine, based on the point cloud data, first object data indicative of a first location of a first object of the one or more objects, the first location being associated with a first set of coordinates; acquire, using the image sensor, image data of a portion of the physical space; determine, based on the image data, second object data indicative of a second object disposed at a second location in the physical space, the second location being associated with a second set of coordinates; determine, using the depth sensor, point cloud data indicative of one or more objects within a physical space; determine, based on the point cloud data, first object data indicative of a first location of a first object of the one or more objects, the first location being associated with a first set of coordinates; acquire, using the image sensor, image data of a portion of the physical space; determine, based on the image data, second object data indicative of a second object disposed at a second location in the physical space, the second location being associated with a second set of coordinates; characterized in that, when executing the computer-executable instructions, the one or more processors are further configured to: determine, using the first set of coordinates and the second set of coordinates, whether the first object and the second object are indicative of a same object; and upon a determination that the first object and the second object are indicative of the same object: determine, based on the first object data and the second object data, whether the same object is non-stationary; and use information gathered about the physical space, comprising whether the same object is non-stationary, to determine a map for the AMD to use for navigation. determine, using the first set of coordinates and the second set of coordinates, whether the first object and the second object are indicative of a same object; and upon a determination that the first object and the second object are indicative of the same object: determine, based on the first object data and the second object data, whether the same object is non-stationary; and use information gathered about the physical space, comprising whether the same object is non-stationary, to determine a map for the AMD to use for navigation. determine, based on the first object data and the second object data, whether the same object is non-stationary; and use information gathered about the physical space, comprising whether the same object is non-stationary, to determine a map for the AMD to use for navigation.