The accuracy of road region extraction is an important factor for the safety and reliability of intelligent driving system. Due to the shadow greatly affects the result of road region extraction in practical applications, the shadow effect weakening on a single image by the optical principles and theories is meaningful. To weaken the shadow effect, we extract the intrinsic images of road scenes based on logarithm domain projection. The intrinsic image has an advantage to remove the shadow effect. Thus, we propose effective projection angle calculation methods in logarithmic domain based on simple statistic, which can eliminate the impact of the direction of camera features. Furthermore, the best whole time projection angle with practical application can be obtained for rapid acquisition of intrinsic image. In the experiment, the proposed methods can weaken the shadow effect for road scene images. In order to evaluate intrinsic image extracted by the proposed methods, the same road detection method is implemented to extract road region. The results demonstrate that the road region detection accuracy based on intrinsic image extracted by our methods are better than the compared methods.

中文翻译：

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基于对数域有效投影的内在图像提取的道路场景阴影效果弱化

道路区域提取的准确性是影响智能驾驶系统安全性和可靠性的重要因素。由于阴影在实际应用中对道路区域提取的结果有很大影响，利用光学原理和理论来弱化单个图像上的阴影效果是有意义的。为了减弱阴影效应，我们基于对数域投影提取道路场景的内在图像。固有图像具有去除阴影效果的优势。因此，我们提出了基于简单统计的对数域有效的投影角计算方法，可以消除相机特征方向的影响。此外，可以获得具有实际应用的最佳全时间投影角度，用于快速获取本征图像。在实验中，所提出的方法可以减弱道路场景图像的阴影效果。为了评估所提出的方法提取的固有图像，实施相同的道路检测方法来提取道路区域。结果表明，我们的方法提取的基于固有图像的道路区域检测精度优于比较方法。