Abstract: Implementations described herein relate to methods, systems, computer-readable media, and vehicles. In some implementations, a vehicle includes a light detection and ranging (LiDAR) sensor, a motor, and an on-board computer that includes a hardware processor and a memory. In some implementations, the memory includes instructions that cause the processor to perform scan of an environment using the LiDAR, determine a distance between the vehicle and one or more light reflecting objects in the environment for each LiDAR beam, perform a sliding window technique to identify one or more surfaces in the environment, detect one or more walls in the environment based on the one or more surfaces, and navigate the vehicle based on the detected one or more walls.