Ahstract- This paper raises an important question on the opportunities offered by millimeter Waves (mm Waves) signals for 3D localization and mapping (3D-LOCMAP) in vehicular and indoor environments. More precisely, the paper presents a technical framework for 3DLOCMAP using the mm Wave channel response and mm Wave propagation characteristics. To do so, the paper firstly introduces a combination between Trian-gulateration (TL) and Received Signal Strength (RSS) or Time of Arrival (ToA) measurements for 3DLOCMAP. In the case of a channel model with single bounce, the environment mapping (such as obstacles) is achieved by estimating the positions of virtual anchor nodes (VANs), known as mirrors of the real anchors with respect to obstacle. Then, the obstacle position and dimensions are found via the estimation of the reflector points on the obstacle. In case of double-bounce, the scenario is observed from single-bounce perspective by estimating Virtual Receiver (VRx), VAN, and two Points of Reflection (PoR). Simulation results have shown the accuracy of the proposed framework which can be extended for further investigations. The work here will open the door for multiple applications in vehicular, robotics, health, radar-like systems, and Internet of Things (IoT).