Generating an object map for use in a vehicle navigation system

A construction vehicle generates an object map to facilitate navigation. The construction vehicle captures an image of the area behind the construction vehicle, and generates a disparity image reflecting depth behind the construction vehicle. The construction vehicle generates and processes a 3D point cloud representation of the area behind the construction vehicle to identify a ground plane. The construction vehicle dynamically generates a virtual plane parallel to the ground plane based on the movement and position of the construction vehicle. After applying the virtual plane to the disparity image, the construction vehicle generates an object map identifying locations of objects greater than a threshold size and the height of the virtual plane. The construction vehicle navigates through the area behind the construction vehicle using the generated object map.