1. A method comprising: providing to a trained neural network a first image, wherein the first image (a) is captured by an image capture device at a first location and at a first pose, (b) is associated with geophysical coordinates corresponding to the first location, and (c) comprises one or more static features; providing to the trained neural network a second image, wherein the second image (a) is captured by an image capture device at a second location and at a second pose, (b) is associated with geophysical coordinates corresponding to the second location, and (c) comprises at least one of the one or more static features; identifying the at least one of the one or more static features in both the first and second images with a branch of the trained neural network; generating a three dimensional image comprising the at least one identified static feature and based on the first and second images; extracting a three dimensional geometry of the at least one identified static feature; encoding the extracted three dimensional geometry as an array; based on the first location and second location, determining a static feature location for the at least one identified static feature; and storing the array in association with a map tile, wherein the map tile is selected based on the static feature location.