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Knowing physical structure of the unknown environment is a requirement in some natural disaster situations such as earthquake, fire accidents or flood. Many existing algorithms in literature have been developed for the purpose of extracting map of unknown environment. These algorithms called as SLAM (Simultaneous Localization and Mapping). But still there are problems in SLAM to be solved. One of these problems referred in literature as chicken-egg problem. Another struggling problem is requirement of more parameters to execute and generate accurate map and pose estimation. That makes systems' structures more complicated and hierarchical. In this study, parameters of Gmapping SLAM algorithm are reduced to avoid complicated structures and execute in a low cost handheld system. In the second step, a rough map is generated by designed handheld system. This rough map called as pre-map. Purpose of the generated pre-map is to use it in other studies, to assist solving localization problem.  Index Terms-pre-mapping, LIDAR, GMAPPING, scan matching, grid base mapping, rao-blackwellized  Manuscript

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