Abstract: A method and system for updating or generating global maps are described, the system adapted to perform the steps of obtaining sensor data from one or more sensors of a vehicle, the sensor data describing a plurality of objects within an area surrounding the vehicle at a time or during a time interval; generating a local map based on the sensor data, the local map indicating relative positions of at least some of the plurality of objects to each other, and indicating an absolute position of one or more of the at least some of the plurality of objects; comparing the local map with a global map; updating the global map or generating a new global map based on the comparison.