Infrared Astronomy Group of the Tata Institute of Fundamental Research (TIFR) has an ongoing programme of high resolution mapping of star forming regions in two trans-IRAS far infrared bands using a 1 metre balloon-borne telescope. The telescope has been flown many times from TIFR Balloon Facility, Hyderabad, India. The photometer consists of two bolometer arrays cooled to 0.3 K by a closed cycle liquid 3He refrigerator. The effective wavelengths of the two bands are ~140 and 200 μm and the angular resolution of the MEM deconvolved maps is ~1'.2. These bands are suitable for the study of cold sources (temperature ≤30 K). Using this system many Galactic star forming regions have been mapped. Using simultaneous maps in the two bands, maps of dust temperature and optical depth have also been obtained. Our maps are combined with other available data and radiation transfer calculations have been made. In this paper we will describe the telescope and give a sample of the results obtained for some of the star forming regions in the Galaxy.