[pugworthy]

One application for this data that comes to mind is computer-aided narrated navigation for the visually impaired.

A challenge of mapping indoor areas for this application (and others) is the sometimes dynamic nature of interior environments.

Using some of the listed categories as examples, furniture is moved or replaced, vegetation is changed (or changes), vending machines are added or moved, escalators are temporarily out of service, food trucks by nature may move, and so forth.