1. A method comprising: recognizing an activity performed at a first place based on sensor data of an electronic device, wherein the first place comprises an unlabeled semantic place without an assigned semantic place label; determining a location for the first place by performing localization for the electronic device; determining an observed mapping between the activity and the location for the first place; determining a typical mapping between the activity and a second place, wherein the second place comprises a labeled semantic place with an assigned semantic place label; based on the observed mapping and the typical mapping, assigning the same sematic place label assigned to the labeled semantic place to the location for the first place; and updating a semantic place map to include the semantic place label assigned to the location for the first place.