[1] [1] Bucher T, Curio C, Edelbrunner J, et al. Image processing and behavior planning for intelligent vehicles［J］. IEEE Transactions on Industrial electronics,2003,50(1):62-75.

[3] [3] Zhang C, Baltsavias E, Gruen A. Knowledge-based image analysis for 3D road construction［J］. Asian Journal of Geoinformatics,2001,1(4):3-14.

[6] [6] Guan H Y, Li J, Yu Y T, et al. Using mobile laser scanning data for automated extraction of road markings［J］. ISPRS Journal of Photogrammetry and Remote Sensing,2014,(87):93-107.

[8] [8] Jaakkola A, Hyyppa J, Hyyppa H, et al. Retrieval algorithms for road surface modelling using laser-based mobile mapping［J］. Sensors,2008,8(9):5238-5249.

[9] [9] Serna A, Marcotegui B. Urban accessibility diagnosis from mobile laser scanning data［J］. ISPRS Journal of Photogrammetry and Remote Sensing,2013,(84):23-32.

[15] [15] Vosselman G. Slope based filtering of laser altimetry data［J］. International Archives of Photogrammetry and Remote Sensing,2000(33):678-684.

[19] [19] Sithole G. Filtering of laser altimetry data using a slope adaptive filter ［J］. International Archives of Photogrammetry and Remote Sensing,2001,34(3-W4):203-210.