A surrounding information-obtaining device (100, 300, 400, 500) for a working vehicle, comprising: a stereo camera which is provided at an end portion of a boom of the working vehicle and configured to measure a positional relationship between the end portion and a construction; and a three-dimensional position information-obtaining device which is configured to obtain three-dimensional position information of the construction from measurement data of positions of the end portion of the boom and the construction measured by the stereo camera, wherein the three-dimensional position information-obtaining device is configured to process an image signal outputted from the stereo camera and configured to extract feature points of imaged constructions, and configured to obtain three-dimensional position information of each construction based on the feature points, wherein the three-dimensional position information-obtaining device includes first and second frame memories (61L, 61R) each configured to store an image imaged by each of left and right monocular cameras (imaging device) (30L, 30R) of the stereo camera, feature point extractors (62L, 62R) each configured to extract a feature point of the construction from the image stored in each of the first and second frame memories (61L, 61R), reference point extractors (63L, 63R) each configured to extract three reference points (P1, P2, P3) shown by cross marks which are marked on an upper surface of a carrier of the working vehicle from the image stored in each of the first and second frame memories (61L, 61R), a camera coordinate system position calculator configured to calculate a position of the feature point in a coordinate system of the stereo camera from the feature point extracted by each of the feature point extractors (62L, 62R), a camera coordinate system reference point position calculator configured to calculate positions of the three reference points in the camera coordinate system from the three reference points extracted from each of the reference point extractors (63L, 63R), a controller which is configured to control each of the first and second frame memories (61L, 61R) to store an image imaged by each of the cameras (30L, 30R) based on a detection signal detected by a sensor, a correlation calculator configured to calculate a correlation between the camera coordinate system and a coordinate system of the working vehicle from the positions of the three reference points calculated by the camera coordinate system reference point position calculator, a crane coordinate system position calculator which is configured to calculate a position in the crane coordinate system by converting the position of the feature point calculated by the camera coordinate system position calculator based on the correlation calculated by the correlation calculator, and a memory which is configured to store the position calculated by the crane coordinate system position calculator, wherein the three-dimensional position information-obtaining device is configured to obtain three-dimensional position information of a construction in a surrounding area of the working vehicle while moving the boom, wherein a map-making processor is configured to form the construction into a shape as viewed in plan view based on an outline of the construction stored in the memory and data of the three-dimensional position, is configured to make a map which shows a position and a height of the construction by a color according to the height of the construction, and has an image memory which is configured to store the map. a stereo camera which is provided at an end portion of a boom of the working vehicle and configured to measure a positional relationship between the end portion and a construction; and a three-dimensional position information-obtaining device which is configured to obtain three-dimensional position information of the construction from measurement data of positions of the end portion of the boom and the construction measured by the stereo camera,