The present invention discloses a method for constructing a grid map by using a binocular stereo camera. A high-performance computing platform is constructed by using a binocular camera and a GPU, and a high-performance solving algorithm is constructed to obtain a high-quality grid map containing three-dimensional information. The system in the present invention is easy to construct, so the input data may be collected by using the binocular stereo camera; the program is simple and easy to implement. According to the present invention, the grid height is calculated by using spatial prior information and statistical knowledge, so that a three-dimensional result is more robust; and according to the present invention, the adaptive threshold of grids is solved by using spatial geometry, filtering and screening of the grids are completed, and thus the generalization ability and robustness of the algorithm are improved.