Cooperative vision-range sensors shade removal and illumination field correction

摘要

A method of creating a shadow-reduced image from a captured image. An image of a scene exterior of a vehicle is captured by a vehicle-based image capture device. A first object profile of an object in the captured image is identified by a processor. A second object profile of the object is detected using a non-vision object detection device. Shadows in the captured image are removed by the processor as a function of the first object profile and the second object profile. A shadow reduced image is utilized in a vehicle-based application.

主权项

1. A method for creating a shadow-reduced image from a captured image, the method comprising the steps of:
capturing an image of a scene exterior of a vehicle by a vehicle-based image capture device; identifying a first object profile of an object in the captured image by a processor; detecting a second object profile of the object using a non-vision object detection device; and removing shadows in the captured image, by the processor, as a function of the first object profile and the second object profile includes;
(a) generating an intensity histogram of the captured image;(b) identifying an initial shadow profile of the first object profile based on the intensity histogram;(c) estimating a direction of a light source based on a comparison of the initial shadow profile and the second object profile;(d) simulating light rays projected from the known light source toward the second object profile;(e) determining a regenerated shadow profile cast on a ground floor based on the projected light rays being blocked by the second object profile;(f) comparing the regenerated shadow profile with the first object profile;(g) applying shade segmentation to the first object profile by comparing the regenerated shadow profile with the first object profile; and(h) performing shadow removal on the first object profile as a function of the shade segmentation; and utilizing a shadow reduced image in a vehicle-based application.