1. A computer-implemented method comprising: generating a spectral signature describing one or more dynamic objects and a scene layout of a current road scene; identifying, from among one or more scene clusters included in a familiarity graph associated with a user, a road scene cluster corresponding to the current road scene; determining a position of the spectral signature relative to other spectral signatures comprising the identified road scene cluster; and generating a familiarity index estimating familiarity of the user with the current road scene based on the position of the spectral signature.