Embodiments of the disclosure provide systems and methods for identifying a curb based on 3-D sensor data. The system includes a communication interface configured to receive the 3-D sensor data captured of a scene by a sensor equipped on the vehicle as the vehicle travels along a trajectory. The system further includes a storage configured to store the 3-D sensor data. The system also includes at least one processor. The at least one processor is configured to create a 2-D mesh representation of the 3-D sensor data. The at least one processor is further configured to segment the 2-D mesh representation into a plurality of surfaces. The at least one processor is further configured to identify boundary mesh cells connecting each pair of adjacent surfaces wherein an altitude difference between the pair of adjacent surfaces is higher than a threshold and select mesh cells that align with a direction of the trajectory as corresponding to the curb.