Terrestrial mobile laser scanning systems provide rapid and cost effective 3D point cloud data which can\udbe used for extracting features such as the road edge along a route corridor. This information can assist\udroad authorities in carrying out safety risk assessment studies along road networks. The knowledge of the\udroad edge is also a prerequisite for the automatic estimation of most other road features. In this paper, we\udpresent an algorithm which has been developed for extracting left and right road edges from terrestrial\udmobile LiDAR data. The algorithm is based on a novel combination of two modified versions of the parametric\udactive contour or snake model. The parameters involved in the algorithm are selected empirically\udand are fixed for all the road sections. We have developed a novel way of initialising the snake model\udbased on the navigation information obtained from the mobile mapping vehicle. We tested our algorithm\udon different types of road sections representing rural, urban and national primary road sections. The successful\udextraction of road edges from these multiple road section environments validates our algorithm.\udThese findings and knowledge provide valuable insights as well as a prototype road edge extraction toolset,\udfor both national road authorities and survey companies.
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