System and method for generating a map with a semantic label is provided. Computing device, the first map including a semantic label on the features and semantic located at the first position is determined, determining a second map including at least part of the feature in a second position . The computing device may identify a first region including a fixed feature in the first position and the corresponding equivalent second position. The computing device may identify the second region including a moving feature in a first position and corresponding free second position equivalent. The computing device may determine one or more conversion between the first and second positions. Computing device, a semantic label, it is the same in the first region may assign the second map at a second semantic location is based on the conversion (s) in the second region. .FIELD 1