Method for generating a photogrammetric corridor map from a set of input images by recovering a respective pose of each image, wherein a pose comprises a position and an orientation information of the underlying camera and following steps are executed: a) Receiving a set of input images acquired with a camera along a corridor flight path and a corresponding set of input camera positions, wherein the input camera positions are acquired by a GNSS-receiver, b) Defining as a working set the subset of input images for which corresponding pose has not yet been recovered, c) Initializing an image cluster: c1) Incrementally recovering pose for images from the working set until pose for at least three images has been recovered and such that not all recovered camera positions are collinear using a method for classical incremental Structure from Motion pipeline, c2) Computing a similarity transformation transforming the recovered camera positions to the corresponding input camera positions, c3) Applying the similarity transformation to the recovered camera poses in the image cluster, d) Further growing the image cluster: d1) Selecting one image from the working set that features overlap with at least one image already in the cluster, d2) Adding the image to the cluster by recovering, via camera resectioning, the pose of its underlying camera relative to the camera poses corresponding to the images already in the cluster, d3) Performing a GNSS bundle adjustment algorithm to refine the poses of the cluster, if at least a predefined number of images have been added since the last invocation of the GNSS bundle adjustment algorithm, wherein GNSS bundle adjustment means a variant of bundle adjustment minimizing not only reprojection errors but residuals between recovered camera positions and input camera positions as well, d4) Continuing with step d1), if there remain images in the working set that feature overlap with at least one image already in the cluster; if not, continuing with step e), e) Continuing with step b) if there remain images in the working set; if not, continuing with step f), f) Generating and providing as output the corridor map using the recovered camera poses. a) Receiving a set of input images acquired with a camera along a corridor flight path and a corresponding set of input camera positions, wherein the input camera positions are acquired by a GNSS-receiver, b) Defining as a working set the subset of input images for which corresponding pose has not yet been recovered, c) Initializing an image cluster: c1) Incrementally recovering pose for images from the working set until pose for at least three images has been recovered and such that not all recovered camera positions are collinear using a method for classical incremental Structure from Motion pipeline, c2) Computing a similarity transformation transforming the recovered camera positions to the corresponding input camera positions, c3) Applying the similarity transformation to the recovered camera poses in the image cluster, c1) Incrementally recovering pose for images from the working set until pose for at least three images has been recovered and such that not all recovered camera positions are collinear using a method for classical incremental Structure from Motion pipeline, c2) Computing a similarity transformation transforming the recovered camera positions to the corresponding input camera positions, c3) Applying the similarity transformation to the recovered camera poses in the image cluster, d) Further growing the image cluster: d1) Selecting one image from the working set that features overlap with at least one image already in the cluster, d2) Adding the image to the cluster by recovering, via camera resectioning, the pose of its underlying camera relative to the camera poses corresponding to the images already in the cluster, d3) Performing a GNSS bundle adjustment algorithm to refine the poses of the cluster, if at least a predefined number of images have been added since the last invocation of the GNSS bundle adjustment algorithm, wherein GNSS bundle adjustment means a variant of bundle adjustment minimizing not only reprojection errors but residuals between recovered camera positions and input camera positions as well, d4) Continuing with step d1), if there remain images in the working set that feature overlap with at least one image already in the cluster; if not, continuing with step e), d1) Selecting one image from the working set that features overlap with at least one image already in the cluster, d2) Adding the image to the cluster by recovering, via camera resectioning, the pose of its underlying camera relative to the camera poses corresponding to the images already in the cluster, d3) Performing a GNSS bundle adjustment algorithm to refine the poses of the cluster, if at least a predefined number of images have been added since the last invocation of the GNSS bundle adjustment algorithm, wherein GNSS bundle adjustment means a variant of bundle adjustment minimizing not only reprojection errors but residuals between recovered camera positions and input camera positions as well, d4) Continuing with step d1), if there remain images in the working set that feature overlap with at least one image already in the cluster; if not, continuing with step e), e) Continuing with step b) if there remain images in the working set; if not, continuing with step f), f) Generating and providing as output the corridor map using the recovered camera poses.