With the development of digital technology, many researchers increasingly study projection-based augmented reality (AR) that recognizes surrounding space, considers users' situation and provides space-oriented information rather than merely providing simple, fragmentary information. However, complicated installation issues persist, such as projection system installation and space setup to provide projection under various environments. In this study, we propose a portable, ambient projection system to address such complex installation issues.We defined pervasive projection AR system that enables projection in various spaces. The system consists of a pico-projector, a depth-sensing camera, and a pan/tilting platform that supports the projector-camera system. The portable ambient projection system can be positioned at an unknown space and can extract plane information by scanning its surrounding environment as it rotates 360-degrees in a clockwise manner. Users are provided with a pervasive projection AR environment as with a simple tablet user interface to control it.