Methods, systems, and apparatus for receiving a mapping of a property that includes a three-dimensional representation of the property, receiving observations of the property that each depict a portion of the property, providing the mapping and the observations to an object mapping engine, receiving an object mapping of the property, wherein the object mapping includes a plurality of object labels that each identify an object that was recognized from the observations and a location of the object within the three-dimensional representation that corresponds to a physical location of the object in the property, and obtaining a semantic mapping of the property that identifies semantic zones of the property with respect to the three-dimensional representation, wherein the semantic mapping is generated based on an output that results from a semantic mapping model processing the object mapping.