A method of generating a roadway map includes receiving an image of a roadway. The method further includes identifying features in the roadway. The method further includes assigning a feature identification (FID) number to each of the identified features. The method further includes generating a score for each of the identified features based on a comparison between the identified features and a corresponding feature having a same FID number from a previously generated roadway map. The method further includes determining whether each of the identified features have changed based on whether the corresponding score exceeds a predetermined threshold. The method further includes updating the roadway map by changing identified features determined to have changed and maintaining identified features determined to have remain unchanged.