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Combining color-based invariant gradient detector with HoG descriptors for robust image detection in scenes under cast shadows

AuthorsVillamizar, Michael ; Scandaliaris, Jorge ; Sanfeliu, Alberto ; Andrade-Cetto, Juan
KeywordsComputer vision
Issue Date2009
PublisherInstitute of Electrical and Electronics Engineers
CitationIEEE International Conference on Robotics and Automation: 1997-2002 (2009)
AbstractIn this work we present a robust detection method in outdoor scenes under cast shadows using color based invariant gradients in combination with HoG local features. The method achieves good detection rates in urban scene classification and person detection outperforming traditional methods based on intensity gradient detectors which are sensible to illumination variations but not to cast shadows. The method uses color based invariant gradients that emphasize material changes and extract relevant and invariant features for detection while neglecting shadow contours. This method allows to train and detect objects and scenes independently of scene illumination, cast and self shadows. Moreover, it allows to do training in one shot, that is, when the robot visits the scene for the first time.
DescriptionTrabajo presentado al ICRA 2009 celebrado en Kobe (Japón) del 12 al 17 de mayo.
Publisher version (URL)http://dx.doi.org/10.1109/ROBOT.2009.5152429
Appears in Collections:(IRII) Libros y partes de libros
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