Semi-automated approach to indoor mapping for 3D as-built building information modeling.

•A semi-automated approach for 3D indoor as-built BIM creation is proposed.•A 3D wireframe model that defines the outline of an interior and clutter data are generated.•A refinement process is introduced for provision of an accurate wireframe model.•The as-built BIM creation is conducted using a commercial BIM software.•Using the wireframe and clutter data as guidance, the efficiency of the as-built BIM creation is improved.