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Check Google cartographer,
Their ROS package can provide both 2D grid map and 3D point cloud maps. If you use a 3D lidar (Velodyne or Hokuyo) with a quality IMU you could get pretty accurate 3D point cloud maps. I did use google Cartographer in one of my project back in grad school, its a little bit complicated to configure at first though but IMO it worths to the end result. Before you start to create your own map, You may download their sample .bag files and try them ,
that will help you to understand if it is what you are looking for.
refer to their getting started page here
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