CSIRO did something like this with their Zebedee system[0], basically a Hokuyo 2D spinning lidar on a spring on a handheld stick. I love this from a design perspective, because it's very usage focused. You already have a human walking around site scanning, and a spring like this gives you the pitch and roll for "free", compared to panning it using an (expensive/heavy/clunky) electromechanical mechanism.

[0]: https://www.youtube.com/watch?v=DUEAz_naHHg