Computing devices and methods for associating a semantic identifier with an object are disclosed. In one example, a three-dimensional model of an environment comprising the object is generated. Image data of the environment is sent to a user computing device for display by the user computing device. User input comprising position data of the object and the semantic identifier is received. The position data is mapped to a three-dimensional location in the three-dimensional model at which the object is located. Based at least on mapping the position data to the three-dimensional location of the object, the semantic identifier is associated with the object.