Onboard real-time system for 3D urban environment reconstruction

The on-board real-time system for three-dimensional environment reconstruction consists of: an instrumented vehicle equipped by a laser mapping system using laser scanner for three dimensional range data acquisition, GPS, INS and odometers for positioning and attitude information. The data obtained by this system could be good resources for developing urban 3D database, which has numerous applications in the field of car navigation and 3D map matching, virtual reality, video and computer games, and planning. The system's on-board software platform /sup RT/MAPS integrates the laser raw range data with the developed vehicle state estimator and is capable to reconstruct the 3D geometry of the environment by real time geo-referencing.