1. A method for automatic generation of a localization geometry, the method comprising: receiving point cloud data collected by a distance sensor and describing a vicinity of a pathway; reducing, by a processor, the point cloud data to a predetermined volume with respect to the pathway; projecting, by the processor, the point cloud data to a two-dimensional plane including at least one pixel formation; defining, by the processor, a volumetric grid according to the at least one pixel formation; determining, by the processor, a voxel occupancy for each of a plurality of voxels forming the volumetric grid; and generating, by the processor, the localization geometry according to the voxel occupancy.