The present invention relates to an imaging system (1) for odometry in real time of a vehicle (3) and carrying out a three-dimensional model of a scene (S), comprising at least a first camera (C1) at high frequency which provides a first series of images and a second camera (C2) to high frequency that provides a second series of images, the images taken of the two cameras are synchronized with each other so that an image of the first series of images and an image of the second series of images taken at substantially the same time form an image pair, at least a third camera (C3) the high resolution which provides a third image series, the third series image pickup is synchronized with at least some image pairs to form picture triplets, and an image processing means capable of processing time in image pairs real to obtain a first model in three low resolution dimensions for odometry of the vehicle (3) and capable of separately processing the image triplets to obtain a second model that is a densification of the first model.