Efficient three-dimension exploration of a complex indoor environment remains a difficult duration in mapping accuracy requirements for geometric data. Indoor and outdoor mapping, which has been done with classical measuring devices for a long time, has come a long way with the use of laser scanning technology in this field. Although terrestrial laser scanning (TLS) point cloud recording provides great convenience in indoor and outdoor mapping, it is disadvantageous in terms of time and cost. Therefore, in our study, we propose a new indoor mapping strategy with wearable mobile laser scanning (WMLS) approach, which uses the simultaneous localization and mapping algorithm, which has been tried recently, as an alternative to TLS point cloud. In this strategy, four test areas with different geometric structures were scanned. A comparative analysis was performed after each test area was scanned with TLS and WMLS devices. For accuracy analysis, reference data were measured with a precision measuring device, and both scan data were compared on a spatial and length basis. The study results showed that the proposed strategy could be an alternative to TLS in terms of accuracy and the time advantage of the WMLS method.