A method for generating a map for use in assisting first responders in navigating hazards detected at a property by a monitoring system, the method comprising: receiving, by the monitoring system, a request for a safe path to a property occupant that is located inside the property; responsive to the request for a safe path to the property occupant that is located inside the property, obtaining, by the monitoring system, a floor plan of the property; obtaining, by the monitoring system, real-time sensor data generated by one or more sensors installed at the property that includes i) sensor data indicative of one or more hazards at the property and ii) a current location of the property occupant; generating, by the monitoring system, a map of the property based on i) the obtained real-time sensor data and ii) the obtained floor plan, wherein generating the map of the property comprises projecting the obtained real-time sensor data onto the obtained floor plan; determining, by the monitoring system and based on the generated map of the property, a safe path between an exit of the property and the current location of the property occupant, comprising: determining, for each of a plurality of paths that extend from the current location of the property occupant to an exit of the property, a path score, wherein the path score is based on a magnitude of the one or more hazards; and selecting, a particular path of the plurality of paths, based on the determined path score; and providing, by the monitoring system and for output on a user device, the map of the property that visually indicates the safe path, wherein providing the map of the property comprises periodically updating the map of the property that visually indicates the safe path based on periodically obtained real-time sensor data. receiving, by the monitoring system, a request for a safe path to a property occupant that is located inside the property; responsive to the request for a safe path to the property occupant that is located inside the property, obtaining, by the monitoring system, a floor plan of the property; obtaining, by the monitoring system, real-time sensor data generated by one or more sensors installed at the property that includes i) sensor data indicative of one or more hazards at the property and ii) a current location of the property occupant; generating, by the monitoring system, a map of the property based on i) the obtained real-time sensor data and ii) the obtained floor plan, wherein generating the map of the property comprises projecting the obtained real-time sensor data onto the obtained floor plan; determining, by the monitoring system and based on the generated map of the property, a safe path between an exit of the property and the current location of the property occupant, comprising: determining, for each of a plurality of paths that extend from the current location of the property occupant to an exit of the property, a path score, wherein the path score is based on a magnitude of the one or more hazards; and selecting, a particular path of the plurality of paths, based on the determined path score; and determining, for each of a plurality of paths that extend from the current location of the property occupant to an exit of the property, a path score, wherein the path score is based on a magnitude of the one or more hazards; and selecting, a particular path of the plurality of paths, based on the determined path score; and providing, by the monitoring system and for output on a user device, the map of the property that visually indicates the safe path, wherein providing the map of the property comprises periodically updating the map of the property that visually indicates the safe path based on periodically obtained real-time sensor data.