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. 2016 Jun 17;16(6):903. doi: 10.3390/s16060903

Figure 10.

Figure 10

Steep edge and smooth edge between asphalt road points and road marking points: (a) Steep edge; (b) Smooth edge. The black points are low intensity points, the green points are high intensity points and the red points are transition points between high intensity points and low intensity points.