1. A method for mapping a structure comprising a plurality of floors, the method comprising: building a plurality of maps, where the plurality of maps includes one map for each of at least two of the plurality of floors; detecting at least one set of anchor points, where the at least one set of anchor points comprises at least one anchor point on each of the plurality of maps; linking the at least one set of anchor points to produce at least one set of linked anchor points; and aligning the plurality of maps around the at least one set of linked anchor points to produce a set of aligned maps.