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I used to do road lanes. To get rid of cloud and some on ground too. Certainly, I am using python on raspberry pi. Here is snippet code:
gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
equ = cv2.equalizeHist(gray)
blur = cv2.GaussianBlur(equ,(7,7),3)
# smooth and canny edge detection
edge = cv2.Canny(blur, 150, 255, 3)
ret, thresh = cv2.threshold(edge, 250, 255, cv2.THRESH_BINARY)