This article presents a method to ease the generation of room floor plans with a Project Tango device. Our method takes as input range images as well as camera poses. It is based on the extraction of vertical planar surfaces we label as wall or clutter. While the user is scanning the scene, we estimate the room layout from the labeled planar surfaces by solving a shortest path problem. The user can intervene in this process, and affect the estimated layout by changing the label of the extracted planar surfaces. We compare our approach with other mobile applications and demonstrate its validity. Index Terms— Floor plan, Mobile device, RGB-D cameras, 2D/3D mapping