Pose determination from airborne LiDAR data and onboard image for future driver assistance systems

Driver assistance system is currently an active research and development field for the general goal to provide useful information to drivers in order to reduce the number of injuries and fatalities in traffic. One important component of future systems will be an accurate and reliable positioning, which can be realized by relative measurement, using onboard sensors and maps of the environment. This paper explores the use of dense laser scan data from airborne LiDAR scanning systems for the production of such 3D navigation maps, extracting features from airborne LiDAR data and onboard image data, so as to simultaneous matching and positioning based on overlapping the LiDAR data and onboard images. In order to get the accuracy position, we propose vPOSRIT (vehicle Pose from Orthography and Scaling with Registrations and ITerations) algorithm to determine pose in the establishing correspondence which register 3D architecture features from building models and the real-time images obtained from onboard camera automatically.