FlyMeThrough: Human-AI Collaborative 3D Indoor Mapping with Commodity Drones

Figure 1: We introduce FlyMeThrough, a drone-based indoor mapping system that semi-automatically maps indoor spaces and locates key facilities such as entrances, stairs, elevators, and doors. (A) We use a DJI Avata drone to scan indoor spaces, and generate reconstructed 3D maps with structure-from-motion (SfM) [40]; (B) We employ SAM2 [2] to enable intuitive and efficient user annotation of key indoor facilities. (C) FlyMeThrough auto-segments objects, generates annotations across subsequent frames, and localizes them in the 3D map, which (D) users can interactively review and update.