A new method for mapping and locating objects using a lightweight LiDAR sensor has been developed. This method is designed for small robots and devices that use solid-state LiDAR sensors. These sensors update quickly and have high resolution but a limited field of view, making existing methods challenging. The new method involves extracting features, estimating movement, and creating probability maps. It was tested on a warehouse robot and a handheld device using an Intel L515 LiDAR sensor, showing accurate location and high-quality mapping. The results are publicly available for others to use.