AUTOMATED LABELING OF TRAFFIC CONTROL FEATURES

Sensor data obtained from vehicles driving through a particular environment (e.g., a particular city or region being mapped) is used to identify and label traffic control features. Location, speed, and/or acceleration of mapping vehicles can be used to identify intersections that may have traffic control features. Environmental data, such as image data captured by one or more cameras, and point cloud data collected by lidar and/or radar sensors, is used to automatically detect traffic control features at the intersections.