Use of GMM and SCMS for Accurate Road Centerline Extraction from the Classified Image

Figure 5

An example of a principal curve. (a) Noisy input points. (b) The estimated probability density map. (c) The principal curve over the probability density map where the principal curve is shown in green. (d) The principal curve projected back onto the plane of original points.

(a)

(b)

(c)

(d)