Autonomous robots are increasingly used in many fields to perform some special tasks. Autonomous transfer vehicles (ATV) in smart factories are one of the most critical components of industry 4.0. Mapping is the key process for the long term successful operation of ATVs. Although, robotic mapping is enough for the autonomous navigation of an ATV, high definition (HID) maps are required to perform the perfect behavior and ensure better interactions with the environment. HD maps can be created manually, but updating the maps is an open problem for sustainability of the performance. In this study, an HD-map update strategy is proposed for ATVs that operate in smart factories.