Abstract: Provided are methods for. Some methods described include: receiving, with at least one processor, a point cloud from a pose graph; receiving, with the at least one processor, an image from a driving log of a vehicle, the image corresponding to the point cloud from the pose graph; obtaining, with the at least one processor, image pixel labels for the image; projecting, with the at least one processor, the point cloud in a point cloud coordinate system to an image coordinate system based on the image pixel labels; generating, with the at least one processor, a six-dimensional colored point cloud by combining the point cloud and color information from the image; and transforming, with the at least one processor, the six-dimensional colored point cloud into five-dimensional map tiles to form a colored map layer. Systems and computer program products are also provided.