A hybrid lock architecture for a door designed to incorporate the functionality of a cylindrical lock architecture with the ease of installation of a tubular lock architecture is provided by the present invention. In an exemplary embodiment, a map building apparatus extracts a pattern of landmarks of the same kind and adjusts a landmark map using the extracted pattern when generating the landmark map for localization. The insert includes an open top end, a closed bottom end, at least one sidewall, and an internal cavity. This control unit stores one pattern cycle’s worth of the correction data corresponding to the position feedback of the master motor.