There is a huge market for wall scans (for non-intrusive wire routing) and a huge market for automatically generated floor plans and structural analysis (for real estate and renovation markets) and yet there are very few products that are effective in this space, which leads me to believe that the technology here is very much proof-of-concept and rarely if ever useful for anything other than a toy for research.

If you can do keyhole scanning of room layouts then productize it!