Abstract: A method for labeling vehicular sensor data includes accessing sensor data captured by a plurality of sensors disposed at a vehicle. The method also includes accessing global positioning system (GPS) sensor data of the vehicle. For each time step of a plurality of time steps associated with the sensor data, vehicle position information is extracted from the GPS sensor data that represents a respective geographic location of the vehicle at the respective time step. For each time step of the plurality of time steps of the recording of sensor data, respective location-based information associated with the respective geographic location of the vehicle at the respective time step is obtained from a database. For each time step of the plurality of time steps of the recording of sensor data, the recording of sensor data at the respective time step is labeled using the respective obtained location-based information.