Abstract: Examples disclosed herein may involve a computing system that is operable to (i) identify a set of vehicle trajectories that are associated with a segment of a road network, (ii) identify a first cluster of sampling points between the identified set of vehicle trajectories and a first sampling position along the segment, wherein the first cluster has an associated geospatial position and is inferred to be associated with one given lane of the segment, (iii) identify a subset of vehicle trajectories in the identified set that are inferred to be associated with the given lane between the first sampling position and a second sampling position along the segment, (iv) identify a second cluster of sampling points between the identified subset of vehicle trajectories and the second sampling position, wherein the second cluster has an associated geospatial position, and (v) determine a geospatial geometry of the given lane.