An embodiment of the present invention provides a method of updating a CAD model representing an environment. Such an embodiment begins by generating a point cloud representing one or more objects of an environment based on received signals, where the received signals reflected off the one or more objects of the environment. Next, one or more clusters of the point cloud are identified based on a density of points that includes the one or more clusters. In turn, the one or more clusters are mapped to existing CAD diagrams and a CAD model of the environment is automatically updated using the existing CAD diagrams.