When you first start out the most important key you can learn is the minimap key (default c). For either team, this brings up a map of the entire level, letting you see what your teammates can see.

Here is a zoomed in version of the minimap:

As illustrated, all your teammates, friendly structures, and hostile structures and players that are in view of your teammates. In this example the hostiles are in the bottom left. As soon as your teammates lose sight of hostiles, they will disappear from your minimap.

From this view, you can see the hives, the resource nodes, and weldable areas. It's great to see where the action is, or where the enemy might be sneaking up.