Abstract: A lidar-based prior map for estimating static objects via deep-learning algorithm is disclosed. In one aspect, a server includes a network communication device configured to communicate with a plurality of autonomous vehicles over a network, a memory, and a processor. The processor is configured to receive LiDAR data from the autonomous vehicles, generate a LiDAR prior map comprising raw data based on the LiDAR data received from each of the autonomous vehicles, merge the raw data into a prior map, the prior map comprising an occupancy grid indicative of locations of static objects within an environment of the autonomous vehicles, and provide the prior map to the autonomous vehicles.