I need accurate, up-to-date digital floor maps that customers can rely on for in-store navigation. The immediate focus is the product aisles, but the mapping must align to the entire Walmart layout so it scales later to entrances, exits, and checkout zones. Scope of work • Use geometric and spatial data rigorously to ensure digital map alignment with real-world store geometry, including consistent scale, walking paths, aisle spacing, and orientation corrections based on physical structure. • Capture raw spatial data on-site using smartphones and any lightweight measurement tools you prefer. • Fuse inertial odometry, magnetometer readings, BLE beacon signals, and visual markers into a single indoor positioning pipeline. • Evaluate and, where beneficial, integrate Wi-Fi RTT, magnetic fingerprinting, and visual SLAM to push accuracy below one metre. • Create calibration routines for compass, gyro, and accelerometer that store staff can run themselves. • Validate the finished map: measure absolute accuracy, track drift over time, and document reliability. Deliverables 1. Functional prototype running on standard Android and iOS smartphones, showing a live blue-dot through an entire product aisle. 2. Digital floor map files aligned to physical shelving. 3. Setup and calibration guide that a non-technical associate can follow. 4. Short report on accuracy metrics, drift analysis, and recommended maintenance workflow. Acceptance criteria • Sub-metre positional error sustained for at least 50 m of continuous aisle walking. • Successful blue-dot display within a Walmart app mock-up without visible drift after re-calibration. • All source code, scripts, and configuration files included. You are free to leverage ROS, OpenCV, ARCore/ARKit, or other toolchains as long as the final prototype meets the above benchmarks and can be handed off cleanly for future refinement.