FULLY ALIGNED JUNCTIONS

Systems and methods for creating maps used in navigating autonomous vehicles are disclosed. In one implementation at least one processor is programmed to receive drive information from each of a plurality of vehicles that traverse different entrance-exit combinations of a road junction; for each of the entrance-exit combinations, align three-dimensional feature points in the drive information to generate a plurality of aligned three-dimensional feature point groups, one for each entrance-exit combination of the road junction; correlate one or more three-dimensional feature points in each of the plurality of aligned three-dimensional feature point groups with one or more three-dimensional feature points included in every other aligned three-dimensional feature point group from among the plurality of aligned three-dimensional feature point groups; and generate a sparse map based on the correlation, the sparse map including a target trajectory associated with each of the entrance-exit combinations.