Shadow removal in an image captured by a vehicle-based camera for clear path detection
US8294794B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jul 6, 2010 |
| Grant date | Oct 23, 2012 |
| Priority date | — |
| Expiry date | May 24, 2031 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30252
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A method for is provided for creating a shadow-reduced image from a captured image for distinguishing a clear path of travel. Each pixel of a captured input image is plotted according to a two dimensional logarithmic graph. A specific color set relating to an associated color value of a clear path. A linear illumination-invariant axis is determined as a function of the specific color set. An illumination direction for the linear illumination-invariant axis is determined. A log-chromaticity value of each plotted pixel of the specific color set is projected on the axis. Edges in the input image and the illumination-invariant image domain are identified. The identified edges of the input image are compared to identify edges in the illumination-invariant image domain. A determination is made whether a shadow edge is present in response to comparing the edges. A shadow-reduced image is generated for scene analysis by a vehicle vision-based system.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.