Systems and methods for map construction using a video sequence captured on a camera of a vehicle in an environment, comprising: receiving a video sequence from the camera, the video sequence including a plurality of image frames capturing a scene of the environment of the vehicle; using a neural camera model to predict a depth map and a ray surface for the plurality of image frames in the received video sequence; and constructing a map of the scene of the environment based on image data captured in the plurality of frames and depth information in the predicted depth maps.