SYSTEM AND METHOD FOR GENERATING A SEMANTIC MAP FOR A ROAD

Systems, methods, and other embodiments described herein relate to generating a semantic map for a road portion. In one embodiment, a method includes receiving sensor data related to a road portion. The sensor data includes trace points and key points associated with the trace points. The trace points are related to positions of a vehicle in the road portion and the key points are related to lane boundaries. The method includes determining a relationship between the trace points based on the key points and determining characteristics of the road portion based on the relationship.