A method of merging aerial images and ground laser scans

We propose an approach to use aerial images to localize the global positions of laser scans. We first segment laser scans to remove invalid data such as cars, three, foot passengers and so on and keep the main structure data. And then we give an algorithm for creating an edge map from laser scans instead of the ordinary edge detectors. Last, we register the edge map with aerial images using ICP algorithm from coarse to fine. We perform our method in practice that takes advantage of GPS sensor in urban environment.