Abstract:For vehicle-borne Light Detection And Ranging(LiDAR), a mathematical model is built for the computation and reconstruction of laser point cloud with the scanning data, Global Positioning System(GPS) data and Inertial Measurement Unit(IMU) data. 3D point cloud of the road and the scenery on the both sides of the road is obtained. Then according to the trajectory of vehicle, 3D roaming for the scenery on the both sides of the road is realized by using OpenGL 3D engine technology. A collision warning technology is researched for applying in vehicle and aircraft by adopting the LiDAR system. LiDAR can obtain the target’s high precision 3D coordinates in a quick and initiative way with a long detection distance, and can ignore the influence of night and weather. This technology provides a feasible technical way for vehicle and aircraft's collision avoidance in the environment of low visibility and multi- obstacle.