1. A computer program product for remote sensing, the computer program product residing on a non-transitory computer-readable storage medium and comprising instructions which, when executed by a processor, cause a computer to: measure position and pose of a moving vehicle; collect spatial data of a discovered object with sensors of the moving vehicle; collect position and pose data of the discovered object; compare the discovered object spatial data with spatial data in an object model database comprising object models already stored at the moving vehicle; calculate position and pose of the vehicle from the discovered object spatial data when the discovered object spatial data matches spatial data of a model object in the object model database; compare the discovered object position and pose data with position and pose data of a model object having spatial data matching the spatial data of the discovered object; and update the position and pose data in the object model database when the position and pose data of the discovered object does not match the position and pose data of the model object.