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3-D GIS Map Generation is necessary for applying precision agriculture to acquire the information of field environment. This research allows the autonomous robot tractor to gather surrounding spatial information in a field. For instance, soil moisture content and soil organic matter strongly affect crop growth and yield. Thus, it is important to understanding the variability in the field to be able to promote precision agriculture. In this study, a laser scanner, attached with inclination to the roof of the tractor, acquires the 3-D information by scanning in a plane. It was able to detect objects within 80 m radius during tractors navigation. In addition, a RTK-GPS measured vehicle position while a posture sensor determined azimuth. This sensing system was able to map in UTM coordinate system the terrain and surrounding components including trees and buildings; moreover it automatically generated a field topography map. This system is promised to be an important tool for future decision makers in agriculture.