Text this: Mapping in urban environment for autonomous vehicle

             ___      _  _    _    _    _____    
    ___     / _ \\   | \| || | || | || |  __ \\  
   /   ||  | / \ ||  |  ' || | || | || | |  \ || 
  | [] ||  | \_/ ||  | .  || | \\_/ || | |__/ || 
   \__ ||   \___//   |_|\_||  \____//  |_____//  
    -|_||   `---`    `-` -`    `---`    -----`   
     `-`