Abstract: A method and apparatus for generating a map from landmarks. The method and apparatus may involve the use of a processor circuit. An embodiment may consist of a platform with a processor circuit, and various different sensors for landmark generation that are known to the art such as a plurality of cameras and/or laser rangefinders. Landmarks are stored in a data structure with their past untransformed landmarks. New landmark data is matched using previous stored untransformed landmarks. Generally current position is only used for matching when backtracking or closing the loop. Landmarks are grouped with other landmarks that are visible in the same time interval. In these groups, dynamic landmarks are identified computationally efficiently using binning. Using basis landmarks in a group, a map relative to these basis landmarks is generated that is translation and rotation invariant. These relative maps are linked together to form a global map.