System and method for generating an occlusion map using crowdsourcing

A method for generating an occlusion map using crowdsourcing includes receiving occlusion data from a host vehicle. The occlusion data includes a plurality of virtual detection lines each extending from the sensor and intersecting an off-road area. The method further includes marking all non-occluded points that are located inside the off-road area and that are located within a predetermined distance from each plurality of virtual detection lines. The method further includes determining a non-occluded region inside the off-road area using the non-occluded points that have been previously marked inside the off-road area, wherein the non-occluded region is part of non-occlusion data. The method further includes generating an occlusion map using the non-occlusion data. The method further includes transmitting the occlusion map to the host vehicle. The method can also determine an occlusion caused by an elevation peak.