Systems and methods for assessing trailer utilization are disclosed herein. The method generates a trailer interior map and captures an image of the trailer interior. The map includes first voxels associated with the trailer interior and the image includes a plurality of three-dimensional (3D) image data points. The method generates a 3D map of an object based on a set of 3D points indicative of respective 3D image data points corresponding to respective first voxels and determines whether the object is non-conforming. The method determines at least one of second voxels associated with unusable space proximate to a non-conforming object, third voxels associated with the non-conforming object, and fourth voxels associated with a conforming object. The method determines an occupied portion of the trailer based on the first voxels, third voxels, and fourth voxels and trailer utilization based on the occupied portion of the trailer, the first voxels, and the second voxels.