A computer-implemented method of mapping, the computer-implemented method comprises of accessing, by a computing system comprising one or more processors, image data and sensor data, wherein the image data comprises a plurality of images of one or more locations and semantic information associated with the one or more locations, and wherein the sensor data comprises sensor information associated with detection of one or more surfaces at the one or more locations by one or more sensors; determining, by the computing system, one or more irregular surfaces based at least in part on the image data and the sensor data, wherein the one or more irregular surfaces comprise the one or more surfaces associated with the image data and the sensor data that satisfy one or more irregular surface criteria at each of the one or more locations respectively and generating, by the computing system, map data comprising information associated with the one or more irregular surfaces.