Abstract: A device, a mapping system, and a method for determining a map of a three-dimensional environment including objects determine common characteristic elements in first and second images of the environment, determine groups of characteristic elements by an image analysis such that each group of characteristic elements corresponds to an object of the environment, estimate a three-dimensional position of the characteristic elements based on a triangulation between positions of the characteristic elements in the first image and positions of the corresponding characteristic elements in the second image, and, for each group of characteristic elements, optimize the three-dimensional positions of the characteristic elements of the respective group by minimizing an error variable which is a function, for all the characteristic elements of the group, of a distance between a detected position of the characteristic elements from at least the first image and a two-dimensional position associated with the corresponding estim