A method for generating a mapping of a physical space from point cloud data for the physical space, the method comprising: receiving, by a computing system, the point cloud data for the physical space, the point cloud data including a plurality of points in three-dimensional space that approximate locations of physical surfaces within the physical space; filtering, by the computing system, the point cloud data to, at least, remove sparse points from the point cloud data; aligning, by the computing system, the point cloud data along x, y, and z dimensions that correspond to an orientation of the physical space; classifying, by the computing system, the points in the point cloud data as corresponding to one or more types of physical surfaces; identifying, by the computing system, specific physical structures in the physical space based, at least in part, on classifications for the points in the point cloud data; and generating, by the computing system, the mapping of the physical space to identify the specific physical structures and corresponding contours for the specific physical structures within the orientation of the physical space; characterised in that classifying, by the computing system, the points in the point cloud data comprises: selecting, from the point cloud data, a reference point; identifying, for the reference point, k nearest neighbor points; calculating, for each of the k nearest neighbor points, spherical coordinates with respect to the reference point; determining, based on the spherical coordinates for each of the k nearest neighbor points, spherical features of the reference point; and classifying, based on determining the spherical features of the reference point, the reference point, wherein the reference point can be classified as belonging to at least one of a floor, a wall, a support beam, a pallet, and noise. receiving, by a computing system, the point cloud data for the physical space, the point cloud data including a plurality of points in three-dimensional space that approximate locations of physical surfaces within the physical space; filtering, by the computing system, the point cloud data to, at least, remove sparse points from the point cloud data; aligning, by the computing system, the point cloud data along x, y, and z dimensions that correspond to an orientation of the physical space; classifying, by the computing system, the points in the point cloud data as corresponding to one or more types of physical surfaces; identifying, by the computing system, specific physical structures in the physical space based, at least in part, on classifications for the points in the point cloud data; and generating, by the computing system, the mapping of the physical space to identify the specific physical structures and corresponding contours for the specific physical structures within the orientation of the physical space; characterised in that classifying, by the computing system, the points in the point cloud data comprises: selecting, from the point cloud data, a reference point; identifying, for the reference point, k nearest neighbor points; calculating, for each of the k nearest neighbor points, spherical coordinates with respect to the reference point; determining, based on the spherical coordinates for each of the k nearest neighbor points, spherical features of the reference point; and classifying, based on determining the spherical features of the reference point, the reference point, wherein the reference point can be classified as belonging to at least one of a floor, a wall, a support beam, a pallet, and noise. selecting, from the point cloud data, a reference point; identifying, for the reference point, k nearest neighbor points; calculating, for each of the k nearest neighbor points, spherical coordinates with respect to the reference point; determining, based on the spherical coordinates for each of the k nearest neighbor points, spherical features of the reference point; and classifying, based on determining the spherical features of the reference point, the reference point, wherein the reference point can be classified as belonging to at least one of a floor, a wall, a support beam, a pallet, and noise.