The disclosed technology provides solutions for improving the operation of construction robotics, such as paving machines. In some aspects, the disclosed technology encompasses a paving machine that includes a first surface profiler configured to scan a surface on which a cart travels, a second surface profiler disposed on an actuating tool, a positional sensor configured to generate positional data representing a position of the cart. The paving machine can also include a processor configured for receiving the positional data from the position sensor, receiving surface profile information from the first surface profiler and the second surface profiler, filtering the surface profile information to remove one or more extraneous motion artifacts, and creating a topographic map of the surface based on the positional data and the surface profile information. Computer-implemented methods and machine-readable media are also provided.