In one embodiment, a movement footprint of a user walking along a wall in the environment is determined at least in part based on a communication between a first communication device and a second communication device. The first communication device is carried by the user, and the second communication device is placed in the environment. A representation of the spatial division of the environment is generated based on the determined movement footprint. An estimated size associated with at least one reference object in the environment is determined according to the representation of the spatial division, and a reference size associated with the at least one reference object is obtained. Further, the representation of the spatial division is adjusted based on the estimated size and the reference size.