Abstract: We present a system to easily capture building interiors and automatically generate floor plans scaled to their metric dimensions. The proposed approach is able to manage scenes not necessarily limited to the Manhattan World assumption, exploiting the redundancy of the instruments commonly available on commodity smartphones, such as accelerometer, magnetometer and camera. Without specialized training or equipment, our system can produce a 2D floor plan and a representative 3D model of the scene accurate enough to be used for simulations and interactive applications.