Patent ID: 8594923

Claim:
A method of constructing a local map feature with a vehicle centric measurement, the method comprising: providing a vehicle pose indicative of a position of an automated guided vehicle with respect to a global coordinate system of global map data, wherein the automated guided vehicle comprises one or more sensors; providing local map data on a memory associated with the automated guided vehicle, wherein the local map data comprises feature information and landmark data; capturing, with the one or more sensors, vehicle centric measurement data indicative of one or more objects within the physical environment, the one or more objects comprising an object that changes within the physical environment; determining, automatically with at least one processor, a dynamic feature pose indicative of a position of the object, an orientation of the object, or both with respect to the global coordinate system by superimposing the vehicle centric measurement data onto the vehicle pose; and updating the feature information of the local map with the dynamic feature pose.