Fig. 1. Overall flowchart

Fig. 2. Schematic diagram of boundary point subdivision

Fig. 3. Schematic diagram of boundary point extraction

Fig. 4. Self-collecting data experiment scene. (a) Experimental scene; (b) experimental platform details

Fig. 5. Rough extraction of ground points in IQTM point cloud dataset. (a) Primary point cloud; (b) point cloud after filtering non-ground point

Fig. 6. Registration results of road edge. (a) Target point cloud; (b) registration result by VCCS; (c) registration result by VCCS-kNN; (d) registration result by proposed method

Fig. 7. Extraction results of IQTM dataset. (a) Extraction result of boundary point; (b) extraction result of road edge

Fig. 8. Self-collected dataset. (a) Self-collected data; (b) hypervoxel segmentation result; (c) extraction result of boundary point; (d) extraction result of road edge

Fig. 9. Extraction results of lane line. (a) IQTM data driving area; (b) extraction result of IQTM data by global threshold method; (c) extraction result of IQTM data by proposed method; (d) self-collected data driving area; (e) extraction result of self-collected data by global threshold method; (f) extraction result of self-collected data by proposed method