The ability to determine the size and shape of a room or other interior space prior to the entry of personnel can identify risks, aid in planning, and promote efficient allocation of resources. The performance of infrared sensors, acoustic sensors, frequency modulated continuous wave radar, and stereo cameras for mapping an enclosed space is evaluated. A multisensor system and a communication network are demonstrated to map accurately the interior of a building and generate a consistent solution and robust results. The average error of the system is 10 to 30 cm. Processing time for the data fusion algorithm is typically 5 to to generate the floor plan for the building. Two practical examples are presented. Current limitations of the technology are discussed, and approaches to abate them are proposed.