In aspects of object and environment dimensioning based on UWB radios, a system includes objects in an environment that are tagged objects and non-tagged objects. The system includes ultra-wideband (UWB) radios associated with respective tagged objects in the environment. A mapping module is implemented to determine a location of each of the tagged objects in the environment based on a position of the UWB radio associated with a tagged object, and determine a location of each of the non-tagged objects in the environment based on the positions of the UWB radios. The mapping module can also determine dimensions of the environment and the objects based on the location and a relative position of each tagged object and non-tagged object in the environment. In implementations, one or more of the UWB radios are UWB tags located for association with the respective tagged objects.