Abstract
The paper presents a study of topographic mapping and sense making with LIDAR data and ground color map. The objective is for possible alternative navigation in case the GPS service is not available. To achieve the objective, a few LIDAR data filtering and image processing techniques are applied. From LIDAR data, an accurate digital elevation model is first generated, then a progressive morphological filtering to remove such interference objects as trees for more reliable matching afterwards. For topographic mapping, the processed LIDAR image and a ground map image are segmented based on the Mean-Shift principle, segmenting the image into different color blocks, then extracting the building color blocks and converting into binary image. Lastly based on the least sum of absolute value, we are able to matching a LIDAR image with a real map image. By performing the effective image filtering and matching process, we have successfully achieved accurate topographic matching based on real LIDAR measurement taken in Singapore. This automatic processing is able to indicate exactly where the LIDAR image was taken.
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