A method of navigating an agricultural vehicle (1), which is equipped with a 3D imaging device (7) for imaging surroundings (13) of the vehicle, and an image processing device (15), comprises:obtaining from the 3D imaging device (7) frames imaging at least a part of the surroundings (131, 132 ..13n) of the vehicle at different points of time while the vehicle (1) is moving thus providing a chronological sequence of frames, analysing the frames, and establishing a change of pose of the vehicle using results of the analysis of at least two chronologically different frames.
