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 (200, 240) of ceiling lights (114, 244) of the ceiling of the warehouse; characterized in that the one or more processors execute machine readable instructions to: provide a first edge line (222, 246, 346) of the ceiling lights (114, 244) of the input image (200, 240) and a second edge line (224, 248, 348) of the ceiling lights (114, 244) of the input image (200, 240); provide a centerline (226, 250, 350) of the ceiling lights of the input image (200, 240), wherein the centerline (226, 250, 350) is disposed between the first edge line (222, 246, 346) and the second edge line (224, 248, 348) of the ceiling lights (114, 244); detect transversal edges (270, 370) from the ceiling lights (114, 244) of the input image (200, 240); determine points of convergence between the transversal edges (270, 370) and the first edge line (222, 246, 346) and the second edge line (224, 248, 348); select a set of point fixes from the points of convergence; and navigate the industrial vehicle through the warehouse utilizing the centerline 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 (200, 240) of ceiling lights (114, 244) of the ceiling of the warehouse; characterized in that the one or more processors execute machine readable instructions to: provide a first edge line (222, 246, 346) of the ceiling lights (114, 244) of the input image (200, 240) and a second edge line (224, 248, 348) of the ceiling lights (114, 244) of the input image (200, 240); provide a centerline (226, 250, 350) of the ceiling lights of the input image (200, 240), wherein the centerline (226, 250, 350) is disposed between the first edge line (222, 246, 346) and the second edge line (224, 248, 348) of the ceiling lights (114, 244); detect transversal edges (270, 370) from the ceiling lights (114, 244) of the input image (200, 240); determine points of convergence between the transversal edges (270, 370) and the first edge line (222, 246, 346) and the second edge line (224, 248, 348); select a set of point fixes from the points of convergence; and navigate the industrial vehicle through the warehouse utilizing the centerline and the set of point fixes. provide a first edge line (222, 246, 346) of the ceiling lights (114, 244) of the input image (200, 240) and a second edge line (224, 248, 348) of the ceiling lights (114, 244) of the input image (200, 240); provide a centerline (226, 250, 350) of the ceiling lights of the input image (200, 240), wherein the centerline (226, 250, 350) is disposed between the first edge line (222, 246, 346) and the second edge line (224, 248, 348) of the ceiling lights (114, 244); detect transversal edges (270, 370) from the ceiling lights (114, 244) of the input image (200, 240); determine points of convergence between the transversal edges (270, 370) and the first edge line (222, 246, 346) and the second edge line (224, 248, 348); select a set of point fixes from the points of convergence; and navigate the industrial vehicle through the warehouse utilizing the centerline and the set of point fixes.