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ICRA
2009
IEEE

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

10 years 6 months ago
Combining color-based invariant gradient detector with HoG descriptors for robust image detection in scenes under cast shadows
— In 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.
Michael Villamizar, Jorge Scandaliaris, Alberto Sa
Added 23 May 2010
Updated 23 May 2010
Type Conference
Year 2009
Where ICRA
Authors Michael Villamizar, Jorge Scandaliaris, Alberto Sanfeliu, Juan Andrade-Cetto
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