This paper proposes a Portable Panoramic Image Mapping System (PPIMS) for rapid acquisition of 3D spatial information, which is one kind of Portable Mobile Mapping System (PMMS). PPIMS is equipped with 6 circularly arranged cameras to capture panoramic images and a GPS receiver for positioning. The total weight of the platform, cameras and the GPS antenna is less than 2.5kg, so that it can be carried by a person for data collection. The motivation of this design is to develop a portable MMS for some difficult accessing areas by vehicles, such as a heavily damaged mountain village or a disaster landscape. This PPIMS is in fact a GPS assisted close-range photogrammetric system. The equipped GPS receiver should have the function of e(electronic)-GPS positioning, which is a VRS GPS navigation system provided by the National Land Survey and Mapping Center, Taiwan. Therefore, the platform position of each image can be determined. Under the condition of knowing the relative orientation of the camera set and the GPS antenna, the elements of exterior orientation of each captured image can be solved through a simple computation.