It depends on how fine-grained we're talking. If you rely on your map for absolute perception (every object must exist in your map in its current real-world sta

It depends on how fine-grained we're talking. If you rely on your map for absolute perception (every object must exist in your map in its current real-world state), then yes, you're in trouble. If you rely on the map as a basic prior, and perceive the world through different means, then a map (to me) is the right way to go. You avoid a whole category of computer vision in doing so. The good news is that a point cloud map is relatively trivial to create, and the pipelines to update such a map over time are becoming more understood. There's lots of startups taking on this challenge.