Autonomous vehicle for mapping store layout

An autonomous vehicle for identifying an efficient path to map a store layout, the autonomous vehicle comprising:

• one or more imaging sensors;
• one or more motion sensors;
• one or more processors;
• a non-transitory computer-readable memory coupled to the one or more processors, and storing thereon instructions that, when executed by the one or more processors, cause the autonomous vehicle to:
• obtain an occupancy grid map of a retail area, the occupancy grid map including an aerial depiction of the retail area with indications of one or more merchandizing fixtures within the retail area and locations of the one or more merchandizing fixtures within the retail area;
• analyze the occupancy grid map to identify the locations of the one or more merchandizing fixtures within the retail area;
• assign a plurality of waypoints to each of the one or more merchandizing fixtures, wherein each of the plurality of waypoints is assigned to a location along a perimeter of the merchandizing fixture;
• identify a path for traversing each of the plurality of waypoints for each of the one or more merchandizing fixtures in the retail area based on the locations of each of the plurality of waypoints;
• and
• traverse, via the one or more motion sensors, the retail area according to the path while capturing, via the imaging sensors, three-dimensional images of the one or more merchandizing fixtures to map a store layout.