This is a link to video on a 3D Pen developed by Wacom.
It looks incredible.
https://gizmodo.com/wacoms-new-stylus-will-let-you-create-3d-drawings-in-vi-1845811039
Paul
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Interesting.
Another approach would be to use something like an iphone. Running AR software that tracks features in the room. You could use it to triangulate your position, or you could use it to literally draw the 3D environment you were in.