Embodiments of the disclosure provide methods and systems for updating a HD map using a plurality of point cloud data frames. The method may include receiving, by a communication interface, a first data frame of a target region acquired by at least one sensor. The method may further include constructing, by at least one processor, a local HD map based on the first data frame. The method may also include receiving, by the communication interface, a second data frame of the target region acquired by the at least one sensor. The method may also include updating, by the at least one processor, the local HD map using the second data frame based on relative location and pose information associated with the second data frame relative to the local HD map, and updating, by the at least one processor the HD map based on the updated local HD map.