Abstract: Crowdsourced radar map generation techniques are disclosed. The techniques can include collecting a set of localized observation data for a map region of a radar reference map, the set of localized observation data including respective data received from each of a plurality of vehicles, dividing the set of localized observation data for the map region into a first observation data subset and a second observation data subset, determining occupancy probability parameters for the map region based on the first observation data subset, validating the occupancy probability parameters based on the second observation data subset, and updating the radar reference map according to the occupancy probability parameters.