Abstract: A method and arrangement for estimating 3D-models in a street environment using a stereo sensor technique. At least one pair of sensors are arranged in pairs and are mounted on a bracket. Each pair of sensors is positioned in a common plane. The sensors of each pair are positioned based upon contrast information such that low levels of contrasts in an image plane are avoided. The pairs of sensors are mutually positioned relative to an essentially horizontal plane of the bracket such that the sensors of a sensor pair are positioned horizontally at a distance from each other and one of the sensors above the horizontal plane of the bracket and the other under the horizontal plane.