With the development of map-making technology, indoor maps have become the "last mile" in cartography and mapmaking. To meet major application needs such as security monitoring and early warning for large complex public places, emergency rescue management, and public indoor positioning services, a set of automated mapping systems has been formed by integrating laser radar, industrial cameras, and indoor high-precision inertial navigation systems through an unmanned platform. A data processing method and software have been developed that can quickly and automatically form high-precision indoor maps from point cloud data. Key technologies include: 1. Sparse laser radar and visual sensor room dynamic calibration technology; 2. Rigid integration technology of geomagnetic initialization for inertial navigation with vision and laser sensors; 3. Semantic classification technology for three-dimensional point clouds.