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In this paper, we describe the dual-threshold processing technology based on gray histogram and carry on binary processing to the blind-road gray image according to the real-time requirement of blind man navigation system and the features of blind-road. We achieved binary image filter processing using erosion and dilation improved algorithm of binary morphological approach. An edge location algorithm is present which can determine the location of pixels around the edge and realize the blind-road's localization accurately. Using the value gain from the location algorithm, an edge tracking algorithm is proposed which achieve the blind-road's tracking accurately. The approach proposed in our paper have been fully implemented and tested on real images. The experimental results show that it can not only recognize the blind-road accurately, but retain the obstacle of the blind-road for the following obstacle recognition and other issues which can provide the accurate basis.