A vehicle vision system (1; 11; 64-66) installed in a vehicle, the vehicle vision system (1; 11; 64-66) comprising: a camera configured to capture at least one image; and a processor coupled to said camera and configured to determine at least one feature descriptor, and in particular a plurality of feature descriptors, for said at least one image; said processor having an interface to access annotated map data including geo-referenced feature descriptors to retrieve a plurality of geo-referenced feature descriptors and position information respectively associated with said geo-referenced feature descriptors, and said processor being configured to perform a matching procedure between said at least one feature descriptor determined for said at least one image and said retrieved geo-referenced feature descriptors, said processor being configured to identify a set of geo-referenced feature descriptors matching a plurality of feature descriptors determined for said at least one image, wherein at least one of said geo-referenced feature descriptors has an associated position information including a height information, and wherein said processor is configured to perform said matching procedure based on said height information and to determine a vehicle orientation based on said position information associated with said set of geo-referenced feature descriptors, the determined vehicle orientation including information on an angle between a vehicle longitudinal axis and a horizontal plane, characterized in that the vehicle vision system (1; 11; 64-66) comprises an optical output device, said processor is configured to control the optical output device to display a vehicle environment, in a schematic or photographic representation, in a perspective view generated based on the determined vehicle orientation that includes the information on the angle between the vehicle longitudinal axis and the horizontal plane. a camera configured to capture at least one image; and a processor coupled to said camera and configured to determine at least one feature descriptor, and in particular a plurality of feature descriptors, for said at least one image; said processor having an interface to access annotated map data including geo-referenced feature descriptors to retrieve a plurality of geo-referenced feature descriptors and position information respectively associated with said geo-referenced feature descriptors, and said processor being configured to perform a matching procedure between said at least one feature descriptor determined for said at least one image and said retrieved geo-referenced feature descriptors, said processor being configured to identify a set of geo-referenced feature descriptors matching a plurality of feature descriptors determined for said at least one image, wherein at least one of said geo-referenced feature descriptors has an associated position information including a height information, and wherein said processor is configured to perform said matching procedure based on said height information and to determine a vehicle orientation based on said position information associated with said set of geo-referenced feature descriptors, the determined vehicle orientation including information on an angle between a vehicle longitudinal axis and a horizontal plane, characterized in that the vehicle vision system (1; 11; 64-66) comprises an optical output device, said processor is configured to control the optical output device to display a vehicle environment, in a schematic or photographic representation, in a perspective view generated based on the determined vehicle orientation that includes the information on the angle between the vehicle longitudinal axis and the horizontal plane.