Cast Shadow Resistant Ground Plane Detection in Single Image

Xiaoyan Xu, Xiaoming Liu, Chang Liu, Yuan Ling
2017 International Journal of Hybrid Information Technology  
Ground plane detection is useful for vision navigation to robots and autonomous vehicles. Cast shadow on the ground plane is a challenging issue that may cause the detection fail. In this paper, we present a cast shadow resistant ground plane detection approach from a single color image. We first derive an initial ground plane using geometric layout method. We then apply shadow invariant transform on the roughly detected shadow edges to get a gray-scale intrinsic image. The final shadow
more » ... t ground plane result is obtained by employing region growth on the initial seed region in the shadow-free intrinsic image. The approach proposed here does not need priori assumption such as calibration or landmark. Experimental results show the method works for different scenes.
doi:10.14257/ijhit.2017.10.8.09 fatcat:7fue3pb6j5gdzpafz247myvwqq