A method performed by an apparatus is described. The method includes receiving a first set of object data corresponding to a first journey. The method also includes receiving a second set of object data corresponding to a second journey. The method further includes determining a similarity metric between the first set of object data and the second set of object data. The similarity metric indicates a distance between the first set of object data and the second set of object data for at least one object. The method additionally includes clustering the first set of object data and the second set of object data for the at least one object based on the similarity metric to produce at least one object cluster. The method also includes producing map data based on the at least one object cluster.