A system for updating a high-resolution map, comprising: a communication interface configured to receive a plurality of binocular image frames captured by a binocular camera equipped on a vehicle and pose information captured by a sensor equipped on the vehicle, as the vehicle travels along a trajectory; a storage configured to store the high-resolution map and the plurality of binocular image frames; and at least one processor, configured to: generate point cloud frames based on the respective binocular image frames; position the vehicle using the point cloud frames and the pose information; merge the point cloud frames based on the respective vehicle positions; wherein the system is characterized in that the at least one processor is further configured to: match the merged point cloud with a portion of the high-resolution map; compare a size of the matched portion of the high-resolution map with a threshold size; wherein the at least one processor is further configured to: determine that the size of the matched portion of the high-resolution map is smaller than the threshold size; and if the size of the matched portion of the high-resolution map is smaller than the threshold size, update the portion of the high-resolution map with the merged point cloud; and wherein the at least one processor is further configured to: determine that the size of the matched portion of the high-resolution map is larger than the threshold size; and if the size of the matched portion of the high-resolution map is larger than the threshold size, dispatch a survey vehicle equipped with a Light Detection and Ranging radar to survey the portion of the high-resolution map. a communication interface configured to receive a plurality of binocular image frames captured by a binocular camera equipped on a vehicle and pose information captured by a sensor equipped on the vehicle, as the vehicle travels along a trajectory; a storage configured to store the high-resolution map and the plurality of binocular image frames; and at least one processor, configured to: generate point cloud frames based on the respective binocular image frames; position the vehicle using the point cloud frames and the pose information; merge the point cloud frames based on the respective vehicle positions; generate point cloud frames based on the respective binocular image frames; position the vehicle using the point cloud frames and the pose information; merge the point cloud frames based on the respective vehicle positions; wherein the system is characterized in that the at least one processor is further configured to: match the merged point cloud with a portion of the high-resolution map; compare a size of the matched portion of the high-resolution map with a threshold size; wherein the at least one processor is further configured to: determine that the size of the matched portion of the high-resolution map is smaller than the threshold size; and if the size of the matched portion of the high-resolution map is smaller than the threshold size, update the portion of the high-resolution map with the merged point cloud; and determine that the size of the matched portion of the high-resolution map is smaller than the threshold size; and if the size of the matched portion of the high-resolution map is smaller than the threshold size, update the portion of the high-resolution map with the merged point cloud; and wherein the at least one processor is further configured to: determine that the size of the matched portion of the high-resolution map is larger than the threshold size; and if the size of the matched portion of the high-resolution map is larger than the threshold size, dispatch a survey vehicle equipped with a Light Detection and Ranging radar to survey the portion of the high-resolution map. determine that the size of the matched portion of the high-resolution map is larger than the threshold size; and if the size of the matched portion of the high-resolution map is larger than the threshold size, dispatch a survey vehicle equipped with a Light Detection and Ranging radar to survey the portion of the high-resolution map.