In some examples, a computing device includes one or more computer processors, a communication device, and a memory comprising instructions that cause the one or more computer processors to: receive, using the communication device and from a set of vehicles, different sets of infrastructure data for a particular infrastructure article that is proximate to each respective vehicle of the set of vehicles, wherein each respective vehicle in the set of vehicles comprises at least one infrastructure sensor that generates infrastructure data descriptive of infrastructure articles that are proximate to the respective vehicle; determine, based at least in part on the different sets of infrastructure data for the particular infrastructure article from each respective vehicle of the set of vehicles, a quality metric for the infrastructure article; and perform at least one operation based at least in part on the quality metric for the infrastructure article.