During the local detection, aiming at the features of radar images and optical images, the respective line detectors are devised based on the thought of Dudo Road Operator (DRO), and they can detect road pixels at any direction.

• 在局部检测时，基于DRO线性特征检测算子的基本思想，针对雷达图像和光学图像特性，分别设计了一种改进的局部检测算子，该算子可以检测任意方向的道路象素。