Abstract: In some implementations, a device may receive image data identifying images of a space with racks and objects stored on the racks. The device may receive location data identifying location coordinates associated with the images. The device may process the image data and the location data to generate a merged point cloud identifying the racks and the objects in the space. The device may process the image data to generate mask data identifying at least a first mask for the racks and a second mask for the objects. The device may process the location data, the merged point cloud, and the mask data to generate a semantic point cloud identifying the racks and the objects in the space. The device may process the semantic point cloud, with a computer vision model, to calculate utilization metrics for the space.