A method and a system for acquiring three-dimensional position coordinates without ground control points by using a stereo camera drone are disclosed. A method by which a stereo camera drone acquires three-dimensional position coordinates without ground control points, comprises the steps of: determining a position and a rotating angle of the drone on the basis of image data captured by a stereo camera mounted on the drone and position data and posture data generated by a global positioning system (GPS) and an inertial navigation system (INS) mounted on the drone; matching, to each other, drone images obtained by synchronizing the image data with the position data and the posture data according to the time of the GPS on the basis of the position and the rotating angle; continuously matching the matched drone images in real time; and generating a depth map by using the matched drone images.
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