1. A method for mapping a scene depicted in a sequence of video frames, the method comprising: generating, from the sequence of video frames, a background image representing static elements in the scene; receiving a current video frame; identifying a plurality of regions of the current frame depicting the background image; analyzing the plurality of regions of the current frame to identify at least a first region that occludes at least a portion of a second region; and updating an annotated map of the scene to indicate that the first region is in front of the second region, relative to a position of a camera capturing the sequence of video frames.