Structured light cameras like Project Tango or Occipital's Structure sensor that project a textured pattern would work well here. Stereo algorithms like the one you linked that use the regular phone camera are likely to struggle here, because flat, blank walls are a worst-case scenario for them (yes, they're using the accelerometer to assist, but the reconstruction still needs texture).

I applied with an idea very similar to the OP, except I'm interested in capturing GIS coordinates and video to automatically capture engineering drawings for central offices, head ends and data centers that include racked equipment.

I haven't seen even an e-mail confirming they received my application, so I don't know whether I was rejected or never entered.

We heard back and got a device last week.

If so, they're being rude toward the rest of us.

They certainly had a ton of responses, and possibly they plan on working their way down a list or something.