In underfloor inspection, the worker have to crawl on the ground of the height of 50cm in dusty floor to inspect posts and basement of the underfloor. Consequently the worker bears heavy load in this work. And these days, a case of an illegal business happens in the underfloor inspection. To solve these problems in the underfloor inspection, we developed an underfloor inspection robot. The robot moves in the underfloor autonomously, and it genarates an environmental map with SLAM (Simultaneous Localization And Mapping). In this paper, we show the GUI system for the environment map, with a touch pen of the autonomous inspection robot.