In: Paparoditis N., Pierrot-Deseilligny M.. Mallet C.. Tournaire O. (Eds), IAPRS. Vol. XXXVIII. Part 3A - Saint-Mandé, France. September 1-3. 2010 
298 
(a) before pavement edge segmentation. 
(b) after pavement edge segmentation. 
Figure 12: Pavement edges from the right cloud and their associ 
ated road segments. 
5 CONCLUSIONS AND FUTURE WORK 
In this paper, we have proposed a complete approach to delin 
eate the road surface and to estimate the road width from mo 
bile mapping vehicle laser point clouds. The ground detection 
module successfully extracts ground points, despite significant 
ground curvature or slope. Curbstone points are detected with 
a method initially designed for aerial lidar data (Vosselman and 
Zhou. 2009). We adapted it to terrestrial laser point clouds and 
proved that it can be used on such points. In particular, this kind 
of data gives access to the altitude of the laser points relatively to 
the road altitude, which provides good results even in case of a 
strong slope. 
We managed to obtain connected pavement edges despite parked 
cars occluding the curbstones. The road surface correctly follows 
the curbstones visible in the laser point clouds. The validation 
of this work is mainly graphical and subject to human interpre 
tation. Quality measurement methods should be defined and im 
plemented to improve this work. 
The method presented in this paper finally gives several results 
that can be used in different ways. The ground point cloud ob 
tained at the end of the first stage can be used for façade re 
finement based on laser point cloud analysis, to find the bottom 
boundary of the façades (Denis and Baillard, 2010). The road 
delineation as well as the road width can be used for integration 
into a complex road model for driving simulators (Platsim project 
website, 2007). 
The algorithm described in the paper is only a first draft. It must 
be improved and tested on various road configurations to ensure 
its robustness. Future work will also focus on the detection of 
changes in the road width and on the determination of the parking 
lots location. 
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