Room/building mapping. Would it work for mapping out a floor plan of a building? I've seen a few examples that either require wall access with a tablet, or so

Room/building mapping. Would it work for mapping out a floor plan of a building? I've seen a few examples that either require wall access with a tablet, or some bulky backpack device with a bunch of cameras. If you could make something that can sit on a pole and either USB or bluetooth to a recorder and make its map from near the ceiling (where there’s hopefully a minimum of obstacles to compute) I think that would be useful.