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Increasing size and complexity of indoor structures and increased urbanization has led to much more complication in urban disaster management. Contrary to outdoor environments, first responders and planners have limited information regarding the indoor areas in terms of architectural and semantic information as well as how they interact with their surroundings in case of indoor disasters. Availability of such information could help decision makers interact with building information and thus make more efficient planning prior to entering the disaster site. In addition as the indoor travel times required to reach specific areas in the building could be much longer compared to outdoor, visualizing the exact location of building rooms and utilities in 3D helps in visually communicating the indoor spatial information which could eventually result in decreased routing uncertainty inside the structures and help in more informed …