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Albert Baumgartner 
However, also with this integration of local and global grouping methods the system is still restricted to less complex 
scenes. E.g., by now we do not use enough knowledge about roads and their relations to other objects to be able to extract 
roads in urban areas. In our opinion, in urban areas the influence of vehicles and road markings has to be considered, 
and especially in downtown areas we have to integrate good height data to cope with the large number of occlusions and 
shadows. The concept and first results for road extraction in urban scenes are described in (Hinz and Baumgartner, 2000). 
ACKNOWLEDGMENTS 
The work presented in this paper was carried out in cooperation of the Chair of Photogrammetry and Remote Sensing and 
the Department of Computer Science (Image Analysis Group) at TU Miinchen during the past six years. Funding by the 
Deutsche Forschungsgemeinschaft (DFG) under grant no. Eb 74/8-3 is gratefully acknowledged. 
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