Paying attention to the imagery in "The Road Not Taken" actually reveals a meaning that some readers miss. People have a tendency to want to believe that they have led the more difficult lives and have made the more difficult choices in the various metaphorical forks in the road of their own lives. And perhaps that is why this poem is often misinterpreted.
The speaker uses imagery in the first stanza to help readers envision the choice:
Two roads diverged in a yellow wood
Two things are significant in the imagery here and are important as metaphors. The speaker isn't following his own path but a road. This is a path carved out by someone else, which follows the natural contour of the land. Many people have traveled this road before and many will follow; that's why it exists. Also important is the imagery inherent in yellow. This is autumn, a time of change—and also the beginnings of death in nature. The speaker is facing a season of change. The imagery at the end of this stanza sets up the choice he makes:
And looked down one as far as I could
To where it bent in the undergrowth
The initial path he examines has an uncertain path. Covered by "undergrowth," the road turns and he can't tell where that destination will end.
So he takes the other road, which doesn't exactly support the more difficult choice. Check out the imagery when the speaker initially makes the choice regarding which path he will take:
Then took the other, as just as fair,
And having perhaps the better claim,
Because it was grassy and wanted wear;
Though as for that the passing there
Had worn them really about the same,
The path he chooses is "fair," covered in grass (not rocks and boulders) and is inviting. Also important is that the two paths are worn equally. This is not the less traveled road. It is as equally traveled as the road he doesn't choose.
The speaker reinforces this idea with the imagery at the beginning of the third stanza:
And both that morning equally lay
In leaves no step had trodden black.
Neither road shows the clearly less-traveled path. Both are covered in leaves which have not been disturbed.
Also notice how the language shifts to reflect an almost archaic and fanciful tone at the beginning of the final stanza:
I shall be telling this with a sigh
Somewhere ages and ages hence:
"Shall," "hence," and "ages and ages" has the same feel as "Once upon a time." The speaker slips into this almost fanciful language to remind the readers of the fantasy he has created about the "difficulty" of the path he has chosen.
The imagery and language Frost uses conveys a message that people often want to retell the glories of their most difficult choices and paths, but they fail (intentionally or unintentionally) the recall the accuracy in details of those choices. Also important is the fact that the title is "The Road Not Taken," not "The Hard Road I Took." The speaker tells "with a sigh" of his "road less traveled by," but all the while he is actually remembering "The Road Not Taken."