A floor surveying comprises a self-contained mobile unit that performs simultaneous localization and mapping (SLAM) using wheel odometry data and data from a range finding laser device (RFLD), a digital camera, or both. Point cloud data for mapping is collected using a RFLD positioned near the floor and scanning in a plane perpendicular to the floor. 3D point cloud data representing the floor surface and surfaces in apposition to the floor are displayed and used to generate a floor map or floor plan.