Point cloud data acquiring method and point cloud data acquiring system

A point cloud data acquiring method of acquiring, as moving, point cloud data which serves as base data for a three-dimensional map representing a traveling environment of a vehicle, the method comprising:

• a range finding process of acquiring point cloud data representing azimuths and distances to planimetric features configuring the traveling environment;
• a marker detection process of detecting a marker laid in or on a traveling road of the vehicle;
• a unique information acquiring process of reading unique information from an information providing part annexed to the marker;
• and
• a data recording process of recording point cloud data, wherein
• in the data recording process, point cloud data acquired in the range finding process is recorded, to which marker reference information including unique information of any marker and relative position information representing a relative position with reference to said any marker is linked.