A method for dynamically generating and updating a global tridimensional map of an environment surrounding at least one moving vehicle, in which a plurality of N tridimensional sensors ( 3DS 1 ,..., 3DS N ) is mounted on said at least one moving vehicle and communicates with at least one central processing unit, wherein: a) each sensor ( 3DS i ) of the plurality of N tridimensional sensors ( 3DS 1 ,..., 3DS N ) generates a continuous stream ST i of point cloud frames PCF 0 i , PCF 1 i , ... , in parallel and asynchronously with the other sensors of the plurality of tridimensional sensors, i being an index of the associated sensor ( 3DS i ) ranging from 1 to the number N of tridimensional sensors, wherein each point cloud frame PCF j i of said stream ST i comprises a set of tridimensional data points acquired by said sensor ( 3DS i ) at a time t j i , in a local coordinate system ( CS i ) of said sensor, said tridimensional data points being representative of object surfaces located in a local volume L j i of the environment surrounding said sensor ( 3DS i ) at said time t j i , j being an index of the frame in the continuous stream ST i , j increasing over time with each newly acquired frame, b) said central processing unit continuously receives the plurality of N continuous streams ST 1 ,..., ST N from the N tridimensional sensors ( 3DS 1 , ... , 3DS N ), stores said plurality of streams in a memory and, for each newly received point cloud frame PCF j i of each stream ST i of said plurality of streams, generates or updates a global cumulated tridimensional map of the environment of said at least one vehicle by b1) determining an aligned point cloud frame PCF ̃ j i in a global coordinate system, GCS, of the environment of said at least one vehicle by comparing said point cloud frame PCF j i with the global cumulated tridimensional map of the environment, and b2) updating said global cumulated tridimensional map by merging said aligned point cloud frame PCF ̃ j i with said global cumulated tridimensional map. a) each sensor ( 3DS i ) of the plurality of N tridimensional sensors ( 3DS 1 ,..., 3DS N ) generates a continuous stream ST i of point cloud frames PCF 0 i , PCF 1 i , ... , in parallel and asynchronously with the other sensors of the plurality of tridimensional sensors, i being an index of the associated sensor ( 3DS i ) ranging from 1 to the number N of tridimensional sensors, wherein each point cloud frame PCF j i of said stream ST i comprises a set of tridimensional data points acquired by said sensor ( 3DS i ) at a time t j i , in a local coordinate system ( CS i ) of said sensor, said tridimensional data points being representative of object surfaces located in a local volume L j i of the environment surrounding said sensor ( 3DS i ) at said time t j i , j being an index of the frame in the continuous stream ST i , j increasing over time with each newly acquired frame, b) said central processing unit continuously receives the plurality of N continuous streams ST 1 ,..., ST N from the N tridimensional sensors ( 3DS 1 , ... , 3DS N ), stores said plurality of streams in a memory and, for each newly received point cloud frame PCF j i of each stream ST i of said plurality of streams, generates or updates a global cumulated tridimensional map of the environment of said at least one vehicle by b1) determining an aligned point cloud frame PCF ̃ j i in a global coordinate system, GCS, of the environment of said at least one vehicle by comparing said point cloud frame PCF j i with the global cumulated tridimensional map of the environment, and b2) updating said global cumulated tridimensional map by merging said aligned point cloud frame PCF ̃ j i with said global cumulated tridimensional map. <EOS>