Method for generating scaled terrain information while operating a bulldozer, the bulldozer comprising • a driving unit comprising □ a set of drive wheels, particularly being part of a continuous track, and □ a motor connected to at least one of the drive wheels for providing movability of the bulldozer, • a blade for altering the surface of the terrain (10, 10'), • at least one camera (2,2',2",2"') for capturing images of the environment, particularly of the terrain (10,10'), the camera (2,2',2",2"') being positioned and aligned in a known manner relative to the bulldozer, and • a controlling and processing unit, characterised by • moving the bulldozer in the terrain (10,10') whilst concurrently generating a set of image data by capturing an image series of terrain sections with the at least one camera so that at least two images, particularly successive images, of the image series cover an amount of identical points in the terrain (10,10'), wherein the terrain sections are defined by a viewing field (7,7',7",7"') of the at least one camera (2,2',2",2"') at respective positions of the camera (2,2',2",2"') while moving, • and either applying □ a simultaneous localisation and mapping (SLAM) algorithm or □ a stereo photogrammetry algorithm to the set of image data and thereby deriving terrain data, the terrain data comprising □ a point cloud representing the captured terrain (10,10') and □ position data relating to a relative position of the bulldozer in the terrain (10,10'), and • scaling the point cloud by applying an absolute scale information to the terrain data. • a driving unit comprising □ a set of drive wheels, particularly being part of a continuous track, and □ a motor connected to at least one of the drive wheels for providing movability of the bulldozer, □ a set of drive wheels, particularly being part of a continuous track, and □ a motor connected to at least one of the drive wheels for providing movability of the bulldozer, • a blade for altering the surface of the terrain (10, 10'), • at least one camera (2,2',2",2"') for capturing images of the environment, particularly of the terrain (10,10'), the camera (2,2',2",2"') being positioned and aligned in a known manner relative to the bulldozer, and • a controlling and processing unit, • moving the bulldozer in the terrain (10,10') whilst concurrently generating a set of image data by capturing an image series of terrain sections with the at least one camera so that at least two images, particularly successive images, of the image series cover an amount of identical points in the terrain (10,10'), wherein the terrain sections are defined by a viewing field (7,7',7",7"') of the at least one camera (2,2',2",2"') at respective positions of the camera (2,2',2",2"') while moving, • and either applying □ a simultaneous localisation and mapping (SLAM) algorithm or □ a stereo photogrammetry algorithm to the set of image data and thereby deriving terrain data, the terrain data comprising □ a point cloud representing the captured terrain (10,10') and □ position data relating to a relative position of the bulldozer in the terrain (10,10'), and □ a simultaneous localisation and mapping (SLAM) algorithm or □ a stereo photogrammetry algorithm □ a point cloud representing the captured terrain (10,10') and □ position data relating to a relative position of the bulldozer in the terrain (10,10'), and • scaling the point cloud by applying an absolute scale information to the terrain data.