INFRASTRUCTURE MAPPING AND LAYERED OUTPUT

A system may include a processor configured to receive a first image captured during a drive of a first vehicle along a road segment and receive a second image captured during a drive of the second vehicle along the road segment; analyze the first and second images to identify representations of objects; analyze the first and second images to determine position indicators for each of the objects relative to the road segment; correlate the position indicators for each of the objects, wherein the correlating includes determining refined positions of each object based on the determined position indicators; and generate, based on the refined positions of objects belonging to a particular predetermined category of objects, a map including representations of the refined positions of one or more of the objects that belong to the particular predetermined category of objects.