A computer-implemented method for using a trained generative adversarial network to improve construction and urban planning includes receiving a semantically-segmented point cloud corresponding to a construction site; determining a volumetric soil measurement; and generating a cost estimate. A computing system for using a trained generative adversarial network to improve vehicle orientation and navigation includes one or more processors, and one or more memories having stored thereon computer-executable instructions that, when executed, cause the computing system to: receive a semantically-segmented point cloud corresponding to a construction site; determine a volumetric soil measurement; and generate a cost estimate. A non-transitory computer-readable medium includes computer-executable instructions that, when executed, cause a computer to: receive a semantically-segmented point cloud corresponding to a construction site; determine a volumetric soil measurement; and generate a cost estimate.