Typically, obtaining high-quality SLAM (Simultaneous Localization and Mapping) data of interior space requires using specialized, highly sophisticated and expensive ($6,000 or more) scanning LiDAR sensor systems operated by skilled technicians. The volume of data produced by these systems also creates a computational complexity, further adding to the cost. Knowing that buildings may deviate from design plans while under construction, these real-time, accurate digital representations of the building can be utilized as a part of Building Information Modeling (BIM) databases, which…