Detection of Moving Objects with Removal of Cast Shadows and Periodic Changes Using Stereo Vision

In this paper we present a method for the detection of moving objects for unknown and generic environments under cast shadow and periodic movements of non relevant objects (like waving leaves), using a combination of non-parametric thresholding algorithms and local cast shadow analysis with stereo camera information. Good detection rates were achieved in several environments under different lighting conditions, and objects could be detected independently of scene illumination, shadow, and periodic changes.