Map tile generation using scan maps from client devices

A non-transitory computer-readable medium storing instructions that, when executed by a computer system, cause the computer system to perform operations comprising:

• storing a plurality of scan maps, wherein each scan map comprises environment data describing an environment around a computing device at a point in time;
• generating a plurality of map tiles for a geographic region based on the plurality of scan maps, wherein generating a map tile of the plurality of map tiles comprises:
• identifying a subset of the plurality of scan maps for generating a map tile for an area in the real world;
• localizing the identified subset of scan maps relative to each other based on the environment data in each of the identified subset of scan maps;
• generating the map tile for the area in the real world based on the localized subset of scan maps, wherein the generated map models the corresponding area in the real world;
• and
• storing the map tile in a map tile database;
• receiving a request for virtual content from a client device, wherein the request for virtual content describes a pose of the client device;
• identifying a map tile of the plurality of map tiles based on the pose in the request for virtual content and the corresponding areas in the real world;
• and
• transmitting the identified map tile to the client device.