The Naval Research Laboratory built an app that can 3D map a room on an Android phone: http://www.technologyreview.com/view/429394/placeraider-the-...

Google is building a phone to make it very accurate: https://www.google.com/atap/projecttango/#project

This might enable it if anyone wants to build the app: http://octomap.github.io/

http://wiki.openstreetmap.org/wiki/IndoorOSM_on_Android

No.