In search and rescue operations, it is necessary to have the knowledge about the environment where robots need to go. While in certain situations, pre-existing data may be used, the truth is that due to natural calamities the geographical features of the terrain might change. Furthermore, it is of essential need to be able to deploy missions in the shortest time possible. With that purpose in mind, we propose a system that can be used as a basis for making an up to date map in short time period. To be able to access the unknown terrain and to have an optimal viewing point, we have decided to use a hexacopter as the base. The system we have developed is independent of any external systems, such as GPS, and for orientation rely only on internal sensors. For measuring the environment we rely on a 2D laser range finder.