… the system may be configured to store the map data and/or environmental data as a
sparse data graph or factor graph. the sparse data graph may also be indexed, such as
along geographic regions, to reduce resource consumption and time associated with
accessing and/or updating the map data and/or environmental data. the system discussed
herein, may comprise a database or datastore that maintains an organized and indexed
sparse graph of map data and/or environmental data at specific time intervals that allows …

Techniques associated with generating and maintaining sparse geographic and map data.
In some cases, the system may maintain a factor graph comprising a plurality of nodes. In
some cases, the nodes may comprise pose data and sensor data associated with an
autonomous vehicle at the geographic position represented by the node. The nodes may be
linked based on shared trajectories and shared sensor data.