If you have an extra smartphone, you can use some of the AR SDKs out there. ARKit has the ability to relocalize itself to a stored map ( e.g. your apartment )

If you have an extra smartphone, you can use some of the AR SDKs out there. ARKit has the ability to relocalize itself to a stored map ( e.g. your apartment ) The 6D.ai SDK can even do meshing for obstacle avoidance.