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Figure 1: Image classification for visual feature extraction
Figure 3: Comparison of bounding ellipses with bounding boxmethod for straight (left) and curved road components (centre);the area of bounding ellipse in lilac compared to the area of theroad component in black(right)
Figure 5: Image of extrapolation search (red rectangles) for se-lected road branches (green)
Figure 8: Road extraction example stages: (a) raw road segmen-tation, (b) road components superimposed on the original image,(c) road skeleton, (d) road network with road centrelines shownin yellow and intersections in red.
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