Reliable and up-to-date measurements of public space remain scarce in small and medium-sized towns (SMSTs), where conventional geospatial datasets are often outdated, inconsistent, or inaccessible. This study presents a low-cost and fully reproducible computational pipeline that integrates nadir RGB imagery captured by a DJI Mini 3 UAV with a lightweight instance-segmentation model (Ultralytics YOLOv12-seg) and GIS-based post-processing to derive class-specific surface indicators at the neighborhood scale. The workflow consists of four components: autonomous UAV acquisition over three representative zones of Sesquilé, Colombia; planar mosaic generation and georeferencing using ad hoc ground control points; fine-tuning of a YOLOv12-seg model trained on locally annotated images; and transformation of predicted masks into OSM and GeoPackage geometries for metric analysis. The trained model achieved stable convergence with mask mAP50 ≈ 0.85 and mAP50–95 ≈ 0.70, supported by balanced precision–recall behavior across classes. Spatial outputs exhibit coherent morphological contrasts between the analyzed zones. Buildings occupy 48.17% of the mapped area, vegetation 25.88%, and transport- and plaza-related public space (roadways, sidewalks, and hardscape areas) 25.95%. These proportions capture a clear gradient from a dense urban core to less consolidated peripheral sectors. Results demonstrate that very-high-resolution UAV imagery, combined with open-source deep-learning tools and structured GIS post-processing, can reliably produce operational public-space indicators for SMSTs at low cost. The methodology provides an accessible and scalable framework for evidence-based urban assessment in municipalities with limited technical and financial resources.