A method performed on a user equipment, UE, for exterior hybrid photo mapping, the method comprising: capturing a plurality of images of an exterior of a structure when traversing a plurality of locations in a vicinity of the structure; capturing a plurality of measurement sets; said method being characterized in that: each measurement set corresponds to at least one of the plurality of images and comprises Inertial Measurement Unit, IMU, measurements and available wireless measurements with correction information for the available wireless measurements; and in that it further comprises the steps of: estimating, based, in part, on the plurality of images and the corresponding plurality of measurement sets, a 3D building envelope of the structure and a trajectory of the UE; sending the estimated trajectory of the UE, the 3D building envelope, the plurality of images, and the corresponding measurement sets, to a first server wirelessly coupled to the UE; and receiving, based, in part, on the estimated trajectory of the UE, the plurality of images and the corresponding measurement sets, a corrected trajectory of the UE structure registered to absolute coordinates and a corrected 3D building envelope of the structure registered to absolute coordinates, said corrected 3D building envelope being based on said corrected trajectory and said 3D building envelope. capturing a plurality of images of an exterior of a structure when traversing a plurality of locations in a vicinity of the structure; capturing a plurality of measurement sets; said method being characterized in that: each measurement set corresponds to at least one of the plurality of images and comprises Inertial Measurement Unit, IMU, measurements and available wireless measurements with correction information for the available wireless measurements; and in that it further comprises the steps of: estimating, based, in part, on the plurality of images and the corresponding plurality of measurement sets, a 3D building envelope of the structure and a trajectory of the UE; sending the estimated trajectory of the UE, the 3D building envelope, the plurality of images, and the corresponding measurement sets, to a first server wirelessly coupled to the UE; and receiving, based, in part, on the estimated trajectory of the UE, the plurality of images and the corresponding measurement sets, a corrected trajectory of the UE structure registered to absolute coordinates and a corrected 3D building envelope of the structure registered to absolute coordinates, said corrected 3D building envelope being based on said corrected trajectory and said 3D building envelope. each measurement set corresponds to at least one of the plurality of images and comprises Inertial Measurement Unit, IMU, measurements and available wireless measurements with correction information for the available wireless measurements; and in that it further comprises the steps of: estimating, based, in part, on the plurality of images and the corresponding plurality of measurement sets, a 3D building envelope of the structure and a trajectory of the UE; sending the estimated trajectory of the UE, the 3D building envelope, the plurality of images, and the corresponding measurement sets, to a first server wirelessly coupled to the UE; and receiving, based, in part, on the estimated trajectory of the UE, the plurality of images and the corresponding measurement sets, a corrected trajectory of the UE structure registered to absolute coordinates and a corrected 3D building envelope of the structure registered to absolute coordinates, said corrected 3D building envelope being based on said corrected trajectory and said 3D building envelope. estimating, based, in part, on the plurality of images and the corresponding plurality of measurement sets, a 3D building envelope of the structure and a trajectory of the UE; sending the estimated trajectory of the UE, the 3D building envelope, the plurality of images, and the corresponding measurement sets, to a first server wirelessly coupled to the UE; and receiving, based, in part, on the estimated trajectory of the UE, the plurality of images and the corresponding measurement sets, a corrected trajectory of the UE structure registered to absolute coordinates and a corrected 3D building envelope of the structure registered to absolute coordinates, said corrected 3D building envelope being based on said corrected trajectory and said 3D building envelope.