3D Mapping of a process control environment

A method of mapping a real-world process control environment using a mobile device comprises: registering the device at a reference location in the environment 602; tracking 3D positions (relative to the reference location) and orientations of the device, using at least an inertial measurement unit (IMU) of the device 604; detecting a user input at the device, indicating that a new node is to be added to a 3D map of the environment 606; determining a 3D position of a real-world object relative to the reference location based on a tracked 3D position of the device and a tracked orientation of the device 608; and causing a node database to add the new node to the 3D map of the process control environment, at least by causing the 3D position of the real-world object to be stored in association with the new node 610. A number of mobile devices may be augmented reality (AR) devices, wherein the orientation and position of a further mobile device with respect to the real-world object may cause digital information associated with the new node to be superimposed on a real-world view presented via a display of the further mobile device.