Provided are embodiments including a system for automatically generating a plan of scan locations for performing a scanning operation where the system includes a storage medium that is coupled to a processor. The processor is configured to receive a map of an environment, apply a distance transform to the map, wherein the distance transform determines a path through the map, wherein the path comprises a plurality of points, and identify a set of candidate scan locations based on the path. The processor is also configured to select scan locations from the set of candidate scan locations for performing 3D scans, and perform the 3D scans of the environment based on the selected scan locations. Also provided are embodiments for a method and computer program product for automatically generating a plan of scan locations for performing a scanning operation.