Techniques for identifying curbs

Techniques for identifying curbs are discussed herein. For instance, a vehicle may generate sensor data using one or more sensors, where the sensor data represents points associated with a driving surface and a sidewalk. The vehicle may then quantize the points into distance bins that are located laterally along the driving direction of the vehicle in order to generate spatial lines. Next, the vehicle may determine separation points for the spatial lines, where the separation points are configured to separate the points associated with the driving surface from the points associated with the sidewalk. The vehicle may then generate, using the separation points, a curve that represents the curb between the driving surface and the sidewalk. This way, the vehicle may use the curve while navigating, such as to avoid the curb and/or stop at a location that is proximate to the curb.