Abstract: A navigation system includes: a control circuit configured to: a control circuit configured to: capture a semantic frame from a sensor data stream for a region of interest, crop an outer peripheral edge of the semantic frame by removing semantic points beyond the outer peripheral edge, calculate a world coordinate point cloud by calculating a global positioning system (GPS) location of the semantic points includes a pose error corrected, establish a probability value for a base-level grid, generate a semantic grid map by identifying a dominant percentage of the probability value of the base-level grid and an upper-level grid, and generate a semantic map from the semantic grid map to represent the region of interest; and; and a communication circuit, coupled to the control circuit, configured to transmit the semantic map for displaying on a device.