Shadow Segmentation Using Time-of-Flight Cameras

摘要

Time-of-flight (TOF) cameras are primarily used for range estimation by illuminating the scene through a TOF infrared source. However, additional background sources of illumination of the scene are also captured in the measurement process. This paper uses radiomet-ric modelling of the signals emitted from the camera and a Lambertian reflectance model to develop a shadow segmentation algorithm. The proposed model is robust and is experimentally verified using real data.