The research focuses on the 3D localization of data from measurements inside buildings, where satellite location systems, such as GPS, are not operational. Different solutions exist in the literature, they rely in particular on the use of SLAM (Simultaneous Localization And Mapping) algorithms, but the 3D reconstruction is generally carried out a posteriori. In order to be able to propose this type of approach for embedded systems, a first thesis was carried out and led to a choice of algorithms to embed and a draft of the electronic architecture. A first proof of concept was also realized. Continuing this work, the thesis will have to propose a method allowing the localization device to be easily embedded on a wide range of nuclear measuring equipment (diameter, contamination meter, portable spectrometry, etc.). The work is not limited to a simple integration phase; it requires an architectural exploration, which will be based on adequacy between algorithm and architecture. These approaches will make it possible to respect different criteria, such as weight and small size so as not to compromise ergonomics for the operators carrying out the maps and quality of the reconstruction to ensure the reliability of the input data for the Digital Twin models.