1. A method performed by a computing device comprising one or more processors, the method comprising: receiving, via at least one sensor coupled to an autonomous vehicle operating in a lane of travel, first data including a first estimate of a boundary location of a boundary of the lane of travel, the first data having been acquired at a first time; based on the first data, determining a first variance in the first estimate of the boundary location; receiving, via the at least one sensor, second data including a second estimate of the boundary location, the second data having been acquired at a second time different from the first time; based on the second data, determining a second variance in the second estimate of the boundary location; and based on the first estimate, the first variance, the second estimate, and the second variance, determining third data including a combined estimate of the boundary location and further including a combined variance in the combined estimate.