A parking map generated based on determining a plurality of object clusters by associating pixels from an image with points from a point cloud. At least a portion of the plurality of object clusters can be classified into one of a plurality of object classifications including at least a vehicle object classification. A bounding box for one or more of the plurality of object clusters classified as the vehicle object classification can be generated. The bounding box can be included as a parking space on a parking map based on a location associated with the image and/or point cloud.