Finding landmark features under a broad range of lighting conditions

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Abstract
Whether computer vision is used to steer a robot, to determine the location of an object, to model the environment, or to perform recognition, it is usually necessary to have a simple, yet robust method for finding features. Over the last few decades many methods have been devised for locating these features using line or region based approaches. A problem that faces most approaches, however, is that variations in lighting due to changes in ambient light or to shadows make the procedure very complex or error prone. This paper describes a relatively simple method for finding features that is tolerant of wide variations in ambient lighting and works well in scenes containing shadows. The method makes use of correlation based template matching but derives most of its strength from the way it transforms the image data as matching is performed. In addition to a description of the method, the paper presents results of its use in experiments performed under a broad variety of conditions and discusses its role in model-based navigation and stereo matching.© (1993) COPYRIGHT SPIE--The International Society for Optical Engineering. Downloading of the abstract is permitted for personal use only.

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