1. A method comprising: receiving a three-dimensional depth map for a location in a path network using a depth sensing device; identifying, using a processor, data indicative of physical structures within the depth map; dividing the depth map, at each physical structure, into one or more horizontal slices corresponding to one or more elevations from a road level, each horizontal slice having a thickness range associated with the respective elevation and including data from the depth map in the thickness range above and below the respective elevation; identifying data points of the one or more horizontal slices representing feature geometries of the physical structures; extracting two-dimensional feature geometries from the identified data points; encoding portions of the extracted feature geometries into a database; and providing the encoded portions of the extracted feature geometries for determination of a current geographic location of a vehicle.