A traffic accident site surveying and mapping instrument based on active stereoscopic omnidirectional vision, including an omnidirectional visual sensor with a fixed viewpoint, a laser panorama structured light generator with a fixed central point of light emission, a connecting bracket, used to locate a traffic accident scene and an automatic The GPS sensor that generates the road plan and the microprocessor used to draw the road traffic accident scene map for the image of the omnidirectional visual sensor, the fixed viewpoint of the omnidirectional visual sensor and the fixed luminous center point of the laser panoramic volume structured light generator are at the same On the axis; the microprocessor includes LD light source control unit, video image reading module, camera point location information acquisition module, preset road plane map generation module, orientation information analysis module, on-site video image processing module, and spatial location information of each measurement point Calculation module and on-site accident map generation module. The invention simplifies the complexity of calculation, omits the camera calibration work, has strong environmental applicability, and measures quickly and accurately.