“…It is crucial in applications such as indoor navigation (Abou Diakité & Zlatanova, 2016; Youli Ding et al., 2018) and emergency management (Ahmed et al., 2015). Further, it aids in the dynamic generation and revision of building information modeling (Kang et al., 2020; Kim & Tzempelikos, 2021), architectural design (Cui et al., 2019), safety regulation compliance (Nikoohemat et al., 2020), and historical building preservation (Brunetaud et al., 2012). As the automation requirements push the industry, the automatic reconstruction of the indoor environment is rapidly emerging (Youli Ding et al., 2018; Pintore et al., 2020), leveraging advancements of technologies, from manual modeling, active methods, passive methods to learning‐based methods.…”