Abstract: Systems and methods to generate an augmented map used for autonomous driving of a vehicle involve obtaining images at a first point of view, and training a first neural network to identify and classify features related to an attribute in the images at the first point of view. A method also includes projecting the features onto images obtained at a second point of view, and training a second neural network to identify the attribute in the images at the second point of view based on the features. The augmented map is generated by adding the attribute to a map image at the second point of view.