First of all, when I saw your picture, I felt that your green problem was because you mistakenly displayed the image of YCbCr color space sent back by the camera as rgb, or your rgb was displayed as bgr. Please adjust the problem of reading and displaying images first, hehe.

In addition, the picture you posted must be limited by the camera and there is a distortion problem. Find the calibrated code of the camera, restore it to a normal image first, and then think about what to do. The processed material is not good, and any algorithm behind it is useless.

As for the identification, I don't know what you want to identify. If the road is recognized in common robot recognition, it is best to obtain a little prior knowledge first. Hehe, it's a little experience. If I'm not mistaken, I suggest you check the darpa Challenge of the US Department of Defense (it seems to be written like this). It's machine vision navigation, which can broaden your horizons.