Evacuation plans are essential safety features present in most buildings, designed to guide occupants during emergencies. They outline the quickest and safest escape routes and highlight the user’s current position. These plans also indicate the location of vital safety equipment, such as fire extinguishers, hose reels, and fire alarm call points, to support self-protection efforts. To ensure individuals with visual impairments are not at risk of exclusion, evacuation plans must be designed to be accessible and easily understood by all users, regardless of their abilities. This work aims to reduce the social exclusion risk for individuals with visual disabilities by creating 3D evacuation plans that accurately represent the reality of the as-built environment with special focus on the ground elements and the evacuation signs. The proposal explores the use of 3D LiDAR scanning as a method for rapidly capturing accurate representations of the as-built environment, demonstrating its versatility in both indoors and outdoors.