In my experience, photogrammetry had issues with transparent and reflective surfaces, so wooden floor or brushes metal kitchen appliances wouldn't work well. A

In my experience, photogrammetry had issues with transparent and reflective surfaces, so wooden floor or brushes metal kitchen appliances wouldn't work well. As for the scale, you can always just bring a measurement stick and place it on the floor so that you have an object with known sizes to use to calibrate the scale after the 3d recognition. The gold standard in my opinion is a laser pattern protector in combination with photogrammetry. That way, you can project a pattern onto objects that would otherwise be too uniform in color.