Most governments and towns have maps of where their roads are. Google has access to these maps. For example, [this file](https://www.census.gov/cgi-bin/geo/shapefiles/index.php) contains the US Census data on where roads and stuff are.
This information is supplemented by the Google Street View cars that drive around. If you’ve ever looked at Google Street View, you’ll see that Google has physically driven a car on the vast majority of major roads in the world.
Then, you can use satellite imagery to make some adjustments.
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