1. A method comprising: receiving, at a computing device, laser data indicative of an environment of a vehicle, wherein the laser data includes a plurality of data points associated with one or more objects in the environment; based on the plurality of data points, generating a two dimensional range image that includes a plurality of pixels indicative of respective positions of the one or more objects in the environment relative to the vehicle, wherein generating the two dimensional range image includes providing values to one or more pixels in the two dimensional range image that map to given portions of the environment lacking received laser data; based on the two dimensional range image, determining one or more sets of pixels in the plurality of pixels that correspond to respective surfaces of the one or more objects in the environment; and based on the one or more sets of pixels, providing object recognition information indicative of the one or more objects in the environment to one or more systems of the vehicle.