In　this　paper,　an　effective　map　building　approach　based　on　range　data　from　binocular　stereo　vision　sensor　and　Laser　Range　Finder　is　introduced　in　detail.　First　of　all,　a　local　map　temporal　integration　approach　in　which　Bayesian　filter　based　dynamic　occupancy　grid　map　modeling　technique　is　employed　to　reasonably　deal　with　measurement　uncertainty　involved　in　environment　perception.　In　addition,　as　stereo　vision　is　unreliable　for　building　map　autonomously　and　individually,　an　effective　combination　approach　is　proposed　for　fusing　local　stereo　data　derived　map　and　laser　range　data　derive　map　together　and　producing　a　reliable　spatial　model　for　robot　path　planning　or　obstacle　avoidance.　Advantages　of　our　proposal　are　validated　by　real　experimental　results　carried　on　Pioneer　robot.　©　2011　IEEE.