1. A method comprising: receiving sensor data generated in response to sensing one or more structures, the sensor data describing a plurality of structural features of the structures; identifying the structural features of the sensor data; representing each structural feature by one or more vectors to yield a plurality of vectors; generating a score matrix that describes a plurality of distances among the vectors; forming one or more vector pairs from at least some of the vectors according to the distances of the score matrix; and generating a layout of the one or more structures from the vector pairs.