1. A method of generating a rendering of an environment including at least one object, the method performed on a device comprising a processor and comprising: executing on the processor instructions configured to: generate for the environment a lidar point cloud comprising at least one lidar point; map respective lidar points in the lidar point cloud to identify at least one object in the environment; select a movement classification of the respective at least one object according to the lidar points; and generate the rendering of the environment omitting at least a portion of the respective at least one object according to the movement classification of the object.