Technological developments have shown themselves in the field of engineering as in every field. Wearable mobile laser scanner (WMLS) system is a technique based on simultaneous localization and mapping (SLAM) algorithm. This technique enables the creation of a map of an unknown environment bypassing with distance sensors while simultaneously determining the system located on the map. Due to the rapid progress in measurement technology, a heron WMLS has been used in the detection of underground lines. The point cloud of the roads was obtained with the laser scanner. Sewerage, water, and natural gas pipelines were determined through the point cloud. These determinations were checked with a Global Positioning System (GPS) device. As a result of this study, maps of the existing infrastructure lines in the campus were created.