In the decommissioning of nuclear facilities, it is important to investigate the temperature distribution inside. In this study, we propose a method to generate 3D map information including temperature distribution using a mobile robot equipped with a depth camera based on NIR (near-infrared) and a thermography based on FIR (far-infrared). To this end, a novel calibration scheme for the depth camera and thermography line information is proposed given that the NIR image and the FIR image have the similar mechanism of projecting infrared rays into the image, the line distributions in both images are considered to be similar. The experimental results demonstrate that our mapping framework can generate reliable 3D temperature.