Abstract: A spatial data collection apparatus collects and correlates spatial data for use in creating floor plans, maps and models of existing spaces. The apparatus includes a mobile platform with wheels to allow movement around a space. One or more positional sensors on the platform generate positional data related to a position of the platform. The positional data can include odometry data and optionally gyroscopic data for correcting the odometry data. One or more range-finding devices on the platform measure and calculate range data (e.g., 2-D or 3-D) relating to distances and angles between the platform and objects in the space. The apparatus collects, fuses and correlates the positional data and range data to produce spatial data and stores the spatial data for transfer to a PC for use in creating, viewing and/or editing a map of the space. The apparatus can also record media files (e.g., audio, video, or images) to be associated with locations within the map.