System and methods for creating multi-return map data using single return Lidar data. The systems and methods use a long short-term memory (LSTM) model in combination with a Generative Adversarial Network (GAN) model. The systems and method use a single (1st) return of Lidar at a time stamp and create multiple unseen samples of 2nd and 3rd returns. The LSTM model is used to create a sequential calibration based on incidence angle to choose the optimized 2nd and 3rd return at the same instance of the time stamp. This creates a localized model of three returns from a single return of Lidar and thus provides additional data to generate an HD map.