They are designing the drones to fly autonomously through volcano lava tubes where people can't go (not safe on the moon and Mars). They have to fly fast and avoid collisions on all sides. Pretty much the same requirements as flying through a home with open doors.
The point is, with a ton of money going into NASA research, which we expect to be open technology, it will be available for commercial use. If you watch Roku you can get a channel called "Curiosity Stream" (I'm sure you can get on the Internet as well). One of their latest videos is "Return to the Moon". About half way through they interview and show work at Astrobotics on their development of a drone for exploring the volcano tubes on the moon and Mars. You can get more information there.
Anyway their current prototype looks a bit too large to fly through doorways. However, they are working on what they call a much smaller "BatBot" that will also be able to fly in the dark and not use propellers. Space stuff.
There are of course many other companies working on commercial drones. But most of them fly over agriculture, mining and construction areas, taking photos and measurements from above. Interior flying drones are still on the "bleeding edge" of drone technology. But I would expect rapid development.
Also, I should mention that GIS readings will certainly be used to fix approximate anchor points. But I would expect that the AI side will use very exact laser and ultrasound measurements of interiors and reconcile those with exterior measurements and GIS readings to get very exact layouts of whatever structures they are mapping. Couple that with extreme photography (very high res and low light) with efficient low lighting and you can imagine the things possible.
Added: The since the lava tubes are the only safe places for lengthy stays on the Moon and Mars, capable of protecting against surface radiation and providing a barrier against meteorites, they are probably some of the most valuable real estate - especially if located near water. So, the race is on. [ So, someday, this real estate gets appraised, sold and bought - just like real estate on earth. As well as space stations at prime locations such as the Lagrangian point between the Earth and Sun (
https://en.wikipedia.org/wiki/Lagrangian_point).]