A host map system for updating a region of a host map based on sensor data received from a plurality of connected vehicles travelling in the region comprises monitoring a host map region for discrepancies, defining a geo-fence around an area of a discrepancy and setting a schedule for activing the geo-fence. When a connected vehicle enters the geo-fence, the host mapping system transmits the geo-fence to the connected vehicle and requests that it share its sensor data while travelling in the geo-fenced area. The host mapping system receives the sensor data and processes the data to update details of the host map. The host mapping system may transmit the updated map to connected vehicles travelling in the map region.