one or more processors; and

one or more non-transitory computer-readable media storing instructions that, when executed by the one or more processors, cause the one or more processors to perform operations comprising:

receiving, as a graph, a plurality of nodes representative of an environment, a node of the plurality of nodes associated with a location in an environment;

receiving first data comprising a plurality of poses of a sensor traveling through the environment, a first pose of the plurality of poses indicating one or more of a first position or a first orientation;

determining a first node of the graph that is nearest to the first pose;

determining a distance of the first pose to the first node;

determining, based at least in part on the distance meeting or exceeding a threshold distance, a first subset of the first data that comprises the first pose;

determining whether to update the graph based on whether a first count of poses in the first subset meets or exceeds a threshold count; and

transmitting the graph to a vehicle to navigate the vehicle from a starting location to a destination based at least in part on the graph.