The present invention relates to a method for estimating 3D-models in a street environment using stereo sensor technique, the sensors comprised being arranged in pairs. The invention also refers to an arrangement for estimating 3D-models in a street environment using stereo sensor technique, comprising at least one pair of sensors (16, 17, 18) mounted on a bracket (33), each pair of sensors being positioned in a common plane. The invention solves the problem to measure stereo effects under difficult contrast conditions. According to the invention a method is proposed that ensures that the sensors of each pair comprised, are positioned based upon contrast information such that low levels of contrasts in an image plane are avoided. An arrangement is also proposed that involves that comprised pairs of sensors (16, 17, 18) are mutually positioned relative to an essentially horizontal plane (22) of the bracket (33) such that the sensors (16a, 16b, 17a, 17b, 18a, 18b) of a sensor pair (16, 17, 18) is positioned horizontally at a distance from each other and one of the sensors above the horizontal plane of the bracket (33) and the other under the horizontal plane (22).
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