Fig. 1. Technical route

Fig. 2. Grid division diagram

Fig. 3. Schematic diagram of road and non-road grid

Fig. 4. Central grid and its neighborhood grid

Fig. 5. Experimental data area. (a) Data1; (b) Vaihingen_Strip_05 bands; (c) data2; (d) Toronto_Strip_02 bands

Fig. 6. Filtering results. (a) Data1; (b) data2

Fig. 7. Histogram of the intensity distribution of ground points. (a) Data1; (b) data2

Fig. 8. Initial road obtained by this method. (a) Data1; (b) data2

Fig. 9. Initial road obtained by the traditional method. (a) Data1; (b) data2