1. A navigation-capable vehicle, comprising: one or more processors, and, in communication with the one or more processors: a two-dimensional image sensor; a three-dimensional image sensor; one or more sensors to determine motion, location, and orientation of the navigation-capable vehicle; and one or more non-transitory machine accessible storage media comprising instructions to cause the navigation-capable vehicle to: temporally and spatially align sensor data received from the two-dimensional sensor, the three-dimensional sensor, and the one or more motion, location, and orientation sensors; generate a map representation of a real world environment in a frame of reference of the navigation-capable vehicle based on the temporally and spatially aligned sensor data; recognize a plurality of visual features in the map representation using one or more computer vision algorithms; and annotate one or more of the visual features in accordance with domain-specific business logic.