A method including: obtaining first LiDAR dataset and second LiDAR dataset of environment from LiDAR database, first LiDAR dataset and second LiDAR dataset being captured at first time period and second time period, respectively, second time period being later than first time period; dividing first and second LiDAR datasets into first and second LiDAR subsets; matching given first LiDAR subset with given second LiDAR subset; detecting first objects and second objects in given first and second LiDAR subsets; determining average offset between locations of first objects and locations of second objects; creating given link between given first object and at least one second object, said second object lying within predefined threshold distance from given first object in direction of average offset; and evaluating validity of given link, based upon whether or not given link satisfies growth criterion, given first object is associated with at most one valid link.