A method for using a trained generative adversarial network to improve underwriting, claim handling and retail operations includes receiving a 3D point cloud; and generating a gap-filled semantically-segmented 3D point cloud using a trained generative adversarial network. A computing system for using a trained generative adversarial network to improve vehicle orientation and navigation includes one or more processors, and one or more memories having stored thereon computer-executable instructions that, when executed, cause the computing system to: receive a 3D point cloud; and generate a gap-filled semantically-segmented 3D point cloud using the trained generative adversarial network. A non-transitory computer-readable medium having stored thereon computer-executable instructions that, when executed, cause a computer to: receive a 3D point cloud; and generate a gap-filled semantically-segmented 3D point cloud using a trained generative adversarial network.