Disclosed herein is a method, a 3D map generation system, and a device for generating 3D map of surroundings of a vehicle. In an embodiment, one or more special conditions of the surroundings are detected using the one or more detectors. Further, one or more cameras and one or more sensing devices are operated sequentially or alternately during the one or more special conditions to generates a 3D data representation of the surroundings Finally, a combined 3D map of the surroundings is generated using a combination of the 3D data representation obtained from both the one or more cameras and the one or more sensing devices.