1. An autonomous vehicle comprising: a localization sensor for determining a position of the autonomous vehicle; a perception sensor for assessing an environment about the autonomous vehicle; a detector for detecting a terrain feature in response to a change in an output of the perception sensor; a controller in communication with the localization sensor, the perception sensor, and the detector for i) computing a location of the terrain feature relative to the position of the autonomous vehicle based at least in part on output of the localization sensor and ii) discarding the location of the terrain feature, without storing the location of the terrain feature, if the location of the terrain feature does not represent a hazard for the autonomous vehicle; and a memory in communication with the controller for storing a location of a terrain feature that does represent a potential hazard for the autonomous vehicle.