Examples on Massachusetts dataset: (a) Ground Truth superimposed over test image 10, (b) Results obtained by proposed method on test image 10, (c) Superimposition of detected road with ground truth for Massachusetts test image 10, (d) Ground truth superimposed over test image 11, (e) Results obtained by proposed method on test image 11, and (f) Superimposition of detected road with ground truth for Massachusetts test image 11 (pink color indicates over detection; green means under detection).