Systems and methods are provided for accessing a three-dimensional (3D) image comprising a 3D mesh comprising a plurality of vertices and each vertex of the plurality of vertices having respective 3D coordinates within a space of the 3D mesh. The systems and methods further provide for generating a subset of the plurality of vertices comprising vertices that are within a specified height range and have a specified orientation. The systems and methods further provide for generating a two-dimensional (2D) grid corresponding to the 3D mesh, applying the subset of the plurality of vertices to the 2D grid, and rendering a 2D image of the space comprising an outer border corresponding to the size and shape of the 2D grid and indications of walls within the space based on the applied subset of the plurality of vertices.