Fig. 1. Flowchart of road intensity threshold acquiring based on skewness balancing algorithm

Fig. 2. Point cloud elevation rendering sketch map of sample 1

Fig. 3. Ground point cloud reflection intensity and corresponding PDF curves. (a) Ground points rendered by reflection intensity; (b) corresponding PDF curves

Fig. 4. Changing curves of skewness

Fig. 5. (a) Road point cloud extraction result and (b) corresponding PDF curves

Fig. 6. Point cloud elevation rendering sketch map of sample 2

Fig. 7. PDF curves of road point cloud before and after extraction. (a) PDF curve before road point cloud extraction; (b) PDF curve after road point cloud extraction

Fig. 8. Road point cloud extraction result of sample 2