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 first region of the environment comprising a plurality of fixed features using the computing device, wherein a fixed feature in the plurality of fixed features is located at a corresponding first position of the plurality of first positions and located at a corresponding second position of the plurality of second locations, and wherein the corresponding first position of the fixed feature is equivalent to the corresponding second position of the fixed feature; identifying a second region of the environment comprising 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; determining one or more transformations between first positions and second positions of the plurality of moved features in the second region using the computing device; assigning the plurality of semantic labels to the second map at a second plurality of semantic positions using the computing device, wherein semantic positions in the second plurality of semantic positions for semantic labels in the first region are the same as the corresponding semantic positions in the first plurality of semantic positions, and wherein semantic positions in the second plurality of semantic positions for semantic labels in the second region are based on the one or more transformations; and generating an output of the computing device based on the second map.