Methods, systems, and apparatus, including computer programs encoded on a storage device, for generating a three-dimensional map of a property. The method includes storing at least a portion of an initial map modification data structure, receiving an instruction that instructs the robotic device to initiate property mapping, obtaining image data describing a portion of the property that is mounted to the robotic device, analyzing the obtained image data to determine whether the image data depicts a marker, in response to a determination that the obtained image data depicts a marker, determining the pose of the camera that is mounted to the robotic device, updating the initial map modification data structure using the pose of the camera that is mounted to the robotic device, obtaining an initial three-dimensional map of the property; and modifying the initial three-dimensional map of the property based on the updated map modification data structure.