For the project that i am working on, I need to create a similar dataset like this: , there is no clue in the paper or any blog. Do you have any recommendation to create a similar rasterized map?

Image is from nuScene dataset.
Field is autonomus vehicles.

I searched many videos, websites etc. but couldnt find any useful thing. I asked the nuScene but they said that they used in-software. I am expecting to find an algorithm and create this dataset for our campus.