1. A method, comprising: determining a first map of an environment using a computing device, wherein the first map comprises a plurality of features located at a corresponding plurality of first positions and a plurality of semantic labels located at a corresponding plurality of semantic positions; determining a second map of the environment using the computing device, wherein the second map comprises at least some of the plurality of features located at a corresponding plurality of second positions; identifying a plurality of moved features using the computing device, wherein a moved feature in the plurality of moved features is located at a corresponding first position of the plurality of first positions and a different corresponding second position of the plurality of second positions, and wherein the corresponding first position of the moved feature is not equivalent to the different corresponding second position of the moved feature; for each semantic label of the plurality of semantic labels, the computing device identifying a nearby subset of the plurality of moved features; for each semantic label of the plurality of semantic labels, the computing device determining a transformation based on a coordinate mapping between the first positions and the second positions of the nearby subset of moved features identified for the semantic label; for each semantic label of the plurality of semantic labels, the computing device assigning a semantic position in the second map to the semantic label using the transformation determined for the semantic label; and generating an output of the computing device based on the second map.