Mapping deprived urban areas in low- and middle-income countries is essential for policy development. While urban deprivation is a complex concept encompassing multiple dimensions, we propose an approach to capture its physical traits reflected in urban morphology, aiming for scalability. Our method makes use of affordable Earth Observation imagery and existing open geospatial datasets, and eliminates the need for manual labeling. It involves feature extraction, unsupervised learning, and pseudo-label based semi-supervised learning, resulting in 'soft' urban deprivation maps that avoid flagging areas as 'slums'. The study demonstrated its effectiveness in identifying the urban types associated with deprived areas at the scale of a large sub-Saharan African city.