The present disclosure discloses a method, apparatus and server for constructing a map. An embodiment of the method comprises: building a point cloud data frame sequence using point cloud data frames acquired in real time; extracting morphological data from the point cloud data frames; establishing a spatial position relation between the morphological data of two adjacent point cloud data frames in the point cloud data frame sequence; determining a reference spatial position relation corresponding to a stationary object based on the spatial position relation, and constructing a map with the reference spatial position relation. The present embodiment realizes constructing a map with the point cloud data.