Dealing with shadows : capturing intrinsic scene appearance for image-based outdoor localisation

Corke, Peter, Paul, Rohan, Churchill, Winston, & Newman, Paul (2013) Dealing with shadows : capturing intrinsic scene appearance for image-based outdoor localisation. In Sugano, S. & Kaneko, M. (Eds.) Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, Tokyo Big Sight, Tokyo, pp. 2085-2092.

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In outdoor environments shadows are common. These typically strong visual features cause considerable change in the appearance of a place, and therefore confound vision-based localisation approaches. In this paper we describe how to convert a colour image of the scene to a greyscale invariant image where pixel values are a function of underlying material property not lighting. We summarise the theory of shadow invariant images and discuss the modelling and calibration issues which are important for non-ideal off-the-shelf colour cameras. We evaluate the technique with a commonly used robotic camera and an autonomous car operating in an outdoor environment, and show that it can outperform the use of ordinary greyscale images for the task of visual localisation.

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29 citations in Scopus
19 citations in Web of Science®
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ID Code: 66363
Item Type: Conference Paper
Refereed: Yes
DOI: 10.1109/IROS.2013.6696648
ISSN: 2153-0858
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Copyright Owner: Copyright 2013 IEEE
Copyright Statement: Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.
Deposited On: 21 Jan 2014 00:55
Last Modified: 09 Apr 2014 12:20

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