Fig. 1. Technical route

Fig. 2. Schematic diagram of point cloud normal vector clustering

Fig. 3. Schematic diagram of scanning detection

Fig. 4. Schematic diagram of continuous distribution type

Fig. 5. Original point cloud data. (a) Experimental area 1; (b) experimental area 2

Fig. 6. Ground filtering results. (a) Original algorithm results (experimental area 1); (b) results of proposed algorithm (experimental area 1); (c) original algorithm results (experimental area 2); (d) results of proposed algorithm (experimental area 2)

Fig. 7. Road boundary extraction results. (a) Fine extraction of boundary points; (b) road boundary after fitting

Fig. 8. Road extraction results. (a) Road point cloud; (b) road point cloud in raw data