The Axis Mapper is a new method for obtaining structure orientation through a mobile platform containing a scannerless LiDAR and an inertial measurement unit (contains an accelerometer, magnetometer, and gyroscope). The traditional orientation methods (compass, stationary LiDAR, and photogrammetry) require additional post-processing or manual intervention to derive the orientation of identified structures. The Axis Mapper approach is proven to be up to 5.2 times faster than existing methods, easier to use, and excels in underground environments.