A system for creating and/or dynamically updating indoor positioning maps includes an augmented reality (AR) device and a computing device communicatively coupled to the AR device. The AR device has a display for displaying AR content to a user that overlaps the AR device's perspective view of an environment. The AR device also has one or more depth sensors for gathering mapping data of physical objects in the environment. The computing device has a processor that is configured by software to create a three-dimensional (3D) indoor positioning map of the environment in a building based on the mapping data gathered by the AR device, and/or dynamically update the 3D indoor positioning map of the environment in the building based on the mapping data gathered by the AR device.