1. A method for tracking at least one terrain feature by an autonomous vehicle, the method comprising the steps of: providing at least one localization sensor for determining a position of the autonomous vehicle; providing at least one perception sensor for assessing an environment about the autonomous vehicle; detecting the at least one terrain feature based at least in part on a change in at least one output of the at least one perception sensor; computing a location of the at least one terrain feature relative to the position of the autonomous vehicle and based at least in part on at least one output of the at least one localization sensor; storing the location of the at least one terrain feature in at least one memory; and updating the stored location of the at least one terrain feature based at least in part on a change in output of at least one of the at least one localization sensor and the at least one perception sensor.