基于空间位置特征的运动阴影检测方法-机器人.pdfVIP

34 5 ROBOT Vol.34, No.5 2012 9 Sep., 2012 DOI 10.3724/SP.J.1218.2012.00614 430072 TP391 A 1002-0446(2012)-05-0614-06 Moving Shadow Detection Based on Space Location Feature PENG Qi ZHONG Sidong TU Lifen MEI Tiancan (School of Electronic Information, Wuhan University, Wuhan 430072, China) Abstract: In order to overcome the problems of poor universality and sensitivity of light change in the existing shadow detection methods based on optical properties, a moving shadow detection method based on space location feature is intro- duced. A calibrated binocular stereo camera is used to capture stereo background images at the same time. The position relationships between matching points from the pair of background images is calculated off-line. The cast shadows adhere to the background surface, and the matching points of that shadow have the same position relationships with that of the background stereo images, so the cast shadows can be removed by comparing the level of similarities of pixel values between the left and right images on the position of matching points in the background. Prior knowledge about neither the environ- ment characteristics nor the lighting conditions is required in the proposed approach, and all kinds of complicated lighting conditions will not affect the detection precision. Experimental results demonst