{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,6,21]],"date-time":"2025-06-21T16:10:02Z","timestamp":1750522202346,"version":"3.41.0"},"reference-count":44,"publisher":"Springer Science and Business Media LLC","issue":"5-6","license":[{"start":{"date-parts":[[2017,7,7]],"date-time":"2017-07-07T00:00:00Z","timestamp":1499385600000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61433013"],"award-info":[{"award-number":["61433013"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Recruitment Program of Global Youth Experts"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Machine Vision and Applications"],"published-print":{"date-parts":[[2017,8]]},"DOI":"10.1007\/s00138-017-0858-y","type":"journal-article","created":{"date-parts":[[2017,7,7]],"date-time":"2017-07-07T19:07:08Z","timestamp":1499454428000},"page":"509-523","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":7,"title":["Recursive drivable road detection with shadows based on two-camera systems"],"prefix":"10.1007","volume":"28","author":[{"given":"Bingxi","family":"Jia","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0123-5165","authenticated-orcid":false,"given":"Jian","family":"Chen","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kaixiang","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2017,7,7]]},"reference":[{"key":"858_CR1","doi-asserted-by":"crossref","unstructured":"Alvarez, J., Gevers, T., LeCun, Y., Lopez, A.: Road scene segmentation from a single image. In: Fitzgibbon, A., Lazebnik, S., Perona, P., Sato, Y., Schmid, C. (eds.) Computer Vision ECCV 2012, Lecture Notes in Computer Science, pp. 376\u2013389. Springer, Berlin (2012)","DOI":"10.1007\/978-3-642-33786-4_28"},{"issue":"1","key":"858_CR2","doi-asserted-by":"crossref","first-page":"184","DOI":"10.1109\/TITS.2010.2076349","volume":"12","author":"JM \u00c1lvarez","year":"2011","unstructured":"\u00c1lvarez, J.M., L\u00f3pez, A.M.: Road detection based on illuminant invariance. IEEE Trans. Intell. Transp. Syst. 12(1), 184\u2013193 (2011)","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"issue":"3","key":"858_CR3","doi-asserted-by":"crossref","first-page":"1168","DOI":"10.1109\/TITS.2013.2295427","volume":"15","author":"JM \u00c1lvarez","year":"2014","unstructured":"\u00c1lvarez, J.M., L\u00f3pez, A.M., Gevers, T., Lumbreras, F.: Combining priors, appearance, and context for road detection. IEEE Trans. Intell. Transp. Syst. 15(3), 1168\u20131178 (2014)","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"issue":"2","key":"858_CR4","doi-asserted-by":"crossref","first-page":"149","DOI":"10.1049\/iet-its.2009.0073","volume":"4","author":"J Arr\u00f3spide","year":"2010","unstructured":"Arr\u00f3spide, J., Salgado, L., Nieto, M., Mohedano, R.: Homography-based ground plane detection using a single on-board camera. IET Intell. Transp. Syst. 4(2), 149\u2013160 (2010)","journal-title":"IET Intell. Transp. Syst."},{"issue":"3","key":"858_CR5","doi-asserted-by":"crossref","first-page":"727","DOI":"10.1007\/s00138-011-0404-2","volume":"25","author":"A Bar Hillel","year":"2012","unstructured":"Bar Hillel, A., Lerner, R., Levi, D., Raz, G.: Recent progress in road and lane detection: a survey. Mach. Vis. Appl. 25(3), 727\u2013745 (2012)","journal-title":"Mach. Vis. Appl."},{"issue":"3","key":"858_CR6","doi-asserted-by":"crossref","first-page":"346","DOI":"10.1016\/j.cviu.2007.09.014","volume":"110","author":"H Bay","year":"2008","unstructured":"Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (surf). Comput. Vis. Image Underst. 110(3), 346\u2013359 (2008)","journal-title":"Comput. Vis. Image Underst."},{"issue":"2","key":"858_CR7","doi-asserted-by":"crossref","first-page":"406","DOI":"10.1109\/TRO.2006.862476","volume":"22","author":"J Chen","year":"2006","unstructured":"Chen, J., Dixon, W.E., Dawson, D.M., McIntyre, M.: Homography-based visual servo tracking control of a wheeled mobile robot. IEEE Trans. Robot. 22(2), 406\u2013415 (2006)","journal-title":"IEEE Trans. Robot."},{"key":"858_CR8","doi-asserted-by":"publisher","unstructured":"Chen, J., Paris, S., Durand, F.: Real-time edge-aware image processing with the bilateral grid. In: ACM SIGGRAPH 2007 Papers, SIGGRAPH \u201907. ACM, New York, NY, USA (2007). doi: 10.1145\/1275808.1276506","DOI":"10.1145\/1275808.1276506"},{"key":"858_CR9","doi-asserted-by":"crossref","unstructured":"Conrad, D., DeSouza, G.N.: Homography-based ground plane detection for mobile robot navigation using a modified EM algorithm. In: IEEE International Conference on Robotics and Automation, pp. 910\u2013915. IEEE (2010)","DOI":"10.1109\/ROBOT.2010.5509457"},{"key":"858_CR10","doi-asserted-by":"crossref","unstructured":"Corke, P., Paul, R., Churchill, W., Newman, P.: Dealing with shadows: capturing intrinsic scene appearance for image-based outdoor localisation. In: Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 2085\u20132092 (2013)","DOI":"10.1109\/IROS.2013.6696648"},{"issue":"2","key":"858_CR11","doi-asserted-by":"crossref","first-page":"175","DOI":"10.1007\/s00138-015-0735-5","volume":"27","author":"X Du","year":"2015","unstructured":"Du, X., Tan, K.K.: Vision-based approach towards lane line detection and vehicle localization. Mach. Vis. Appl. 27(2), 175\u2013191 (2015)","journal-title":"Mach. Vis. Appl."},{"key":"858_CR12","doi-asserted-by":"crossref","unstructured":"Fritsch, J., Kuhnl, T., Geiger, A.: A new performance measure and evaluation benchmark for road detection algorithms. In: IEEE International Conference on Intelligent Transportation Systems, pp. 1693\u20131700. IEEE (2013)","DOI":"10.1109\/ITSC.2013.6728473"},{"key":"858_CR13","doi-asserted-by":"crossref","unstructured":"Geiger, A., Lenz, P., Urtasun, R.: Are we ready for autonomous driving? The kitti vision benchmark suite. In: IEEE Conference on Computer Vision and Pattern Recognition, pp. 3354\u20133361. IEEE (2012)","DOI":"10.1109\/CVPR.2012.6248074"},{"issue":"11","key":"858_CR14","doi-asserted-by":"crossref","first-page":"1455","DOI":"10.1109\/TPAMI.2003.1240119","volume":"25","author":"MD Grossberg","year":"2003","unstructured":"Grossberg, M.D., Nayar, S.K.: Determining the camera response from images: What is knowable? IEEE Trans. Pattern Anal. Mach. Intell. 25(11), 1455\u20131467 (2003)","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"issue":"12","key":"858_CR15","doi-asserted-by":"crossref","first-page":"2956","DOI":"10.1109\/TPAMI.2012.214","volume":"35","author":"R Guo","year":"2013","unstructured":"Guo, R., Dai, Q., Hoiem, D.: Paired regions for shadow detection and removal. IEEE Trans. Pattern Anal. Mach. Intell. 35(12), 2956\u20132967 (2013)","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"858_CR16","volume-title":"Multiple View Geometry in Computer Vision","author":"R Hartley","year":"2003","unstructured":"Hartley, R., Zisserman, A.: Multiple View Geometry in Computer Vision. Cambridge University Press, Cambridge (2003)"},{"issue":"4","key":"858_CR17","doi-asserted-by":"crossref","first-page":"309","DOI":"10.1109\/TITS.2004.838221","volume":"5","author":"Y He","year":"2004","unstructured":"He, Y., Wang, H., Zhang, B.: Color-based road detection in urban traffic scenes. IEEE Trans. Intell. Transp. Syst. 5(4), 309\u2013318 (2004)","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"issue":"4","key":"858_CR18","doi-asserted-by":"crossref","first-page":"807","DOI":"10.1109\/TPAMI.2010.136","volume":"33","author":"YS Heo","year":"2011","unstructured":"Heo, Y.S., Lee, K.M., Lee, S.U.: Robust stereo matching using adaptive normalized cross-correlation. IEEE Trans. Pattern Anal. Mach. Intell. 33(4), 807\u2013822 (2011)","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"issue":"5","key":"858_CR19","doi-asserted-by":"crossref","first-page":"1094","DOI":"10.1109\/TPAMI.2012.167","volume":"35","author":"YS Heo","year":"2013","unstructured":"Heo, Y.S., Lee, K.M., Lee, S.U.: Joint depth map and color consistency estimation for stereo images with different illuminations and cameras. IEEE Trans. Pattern Anal. Mach. Intell. 35(5), 1094\u20131106 (2013)","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"issue":"2","key":"858_CR20","doi-asserted-by":"crossref","first-page":"328","DOI":"10.1109\/TPAMI.2007.1166","volume":"30","author":"H Hirschm\u00fcller","year":"2008","unstructured":"Hirschm\u00fcller, H.: Stereo processing by semiglobal matching and mutual information. IEEE Trans. Pattern Anal. Mach. Intell. 30(2), 328\u2013341 (2008)","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"issue":"2","key":"858_CR21","doi-asserted-by":"crossref","first-page":"161","DOI":"10.1007\/s00138-014-0653-y","volume":"26","author":"C Hua","year":"2015","unstructured":"Hua, C., Makihara, Y., Yagi, Y., Iwasaki, S., Miyagawa, K., Li, B.: Onboard monocular pedestrian detection by combining spatio-temporal hog with structure from motion algorithm. Mach. Vis. Appl. 26(2), 161\u2013183 (2015)","journal-title":"Mach. Vis. Appl."},{"issue":"8","key":"858_CR22","doi-asserted-by":"crossref","first-page":"2211","DOI":"10.1109\/TIP.2010.2045715","volume":"19","author":"H Kong","year":"2010","unstructured":"Kong, H., Audibert, J., Ponce, J.: General road detection from a single image. IEEE Trans. Image Process. 19(8), 2211\u20132220 (2010)","journal-title":"IEEE Trans. Image Process."},{"key":"858_CR23","first-page":"646","volume":"2","author":"R Labayrade","year":"2002","unstructured":"Labayrade, R., Aubert, D., Tarel, J.P.: Real time obstacle detection in stereovision on non flat road geometry through\u201d v-disparity\u201d representation. Proc. IEEE Intell. Veh. Symp. 2, 646\u2013651 (2002)","journal-title":"Proc. IEEE Intell. Veh. Symp."},{"key":"858_CR24","doi-asserted-by":"crossref","unstructured":"Lalonde, J.F., Efros, A.A., Narasimhan, S.G.: Detecting ground shadows in outdoor consumer photographs. In: Proceedings of European Conference on Computer Vision, pp. 322\u2013335 (2010)","DOI":"10.1007\/978-3-642-15552-9_24"},{"issue":"3","key":"858_CR25","doi-asserted-by":"crossref","first-page":"228","DOI":"10.1109\/2945.620490","volume":"3","author":"S Lee","year":"1997","unstructured":"Lee, S., Wolberg, G., Shin, S.Y.: Scattered data interpolation with multilevel b-splines. IEEE Trans. Vis. Comput. Graph. 3(3), 228\u2013244 (1997)","journal-title":"IEEE Trans. Vis. Comput. Graph."},{"key":"858_CR26","doi-asserted-by":"crossref","unstructured":"Levi, D., Garnett, N., Fetaya, E.: Stixelnet\u2014a deep convolutional network for obstacle detection and road segmentation. In: Proceedings of the British Machine Vision Conference (BMVC), pp. 109.1\u2013109.12 (2015)","DOI":"10.5244\/C.29.109"},{"key":"858_CR27","doi-asserted-by":"crossref","unstructured":"Lin, C., Jiang, S., Pu, Y., Song, K.: Robust ground plane detection for obstacle avoidance of mobile robots using a monocular camera. In: Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 3706\u20133711 (2010)","DOI":"10.1109\/IROS.2010.5653055"},{"key":"858_CR28","doi-asserted-by":"crossref","first-page":"1454","DOI":"10.1007\/s11771-012-1162-7","volume":"19","author":"X Liu","year":"2012","unstructured":"Liu, X., Xu, X., Dai, B.: Vision-based long-distance lane perception and front vehicle location for full autonomous vehicles on highway roads. J. Cent. South Univ. 19, 1454\u20131465 (2012)","journal-title":"J. Cent. South Univ."},{"key":"858_CR29","unstructured":"Maddern, W., Stewart, A., McManus, C., Upcroft, B., Churchill, W., Newman, P.: Illumination invariant imaging: applications in robust vision-based localisation, mapping and classification for autonomous vehicles. In: Proceedings of the Visual Place Recognition in Changing Environments Workshop, IEEE International Conference on Robotics and Automation (2014)"},{"issue":"11","key":"858_CR30","doi-asserted-by":"crossref","first-page":"1952","DOI":"10.1364\/JOSAA.17.001952","volume":"17","author":"JA Marchant","year":"2000","unstructured":"Marchant, J.A., Onyango, C.M.: Shadow-invariant classification for scenes illuminated by daylight. JOSA A 17(11), 1952\u20131961 (2000)","journal-title":"JOSA A"},{"issue":"1","key":"858_CR31","doi-asserted-by":"crossref","first-page":"497","DOI":"10.1109\/TIP.2011.2162422","volume":"21","author":"P Moghadam","year":"2012","unstructured":"Moghadam, P., Member, S., Starzyk, J.A., Member, S., Wijesoma, W.S.: Fast vanishing-point detection in unstructured environments. IEEE Trans. Image Process. 21(1), 497\u2013500 (2012)","journal-title":"IEEE Trans. Image Process."},{"issue":"3","key":"858_CR32","doi-asserted-by":"crossref","first-page":"1172","DOI":"10.1109\/TVT.2009.2039718","volume":"59","author":"F Oniga","year":"2010","unstructured":"Oniga, F., Nedevschi, S.: Processing dense stereo data using elevation maps: Road surface, traffic isle, and obstacle detection. IEEE Trans. Veh. Technol. 59(3), 1172\u20131182 (2010)","journal-title":"IEEE Trans. Veh. Technol."},{"issue":"01","key":"858_CR33","doi-asserted-by":"crossref","first-page":"1450010","DOI":"10.1142\/S0219843614500108","volume":"11","author":"S Qu","year":"2014","unstructured":"Qu, S., Meng, C.: Statistical classification based fast drivable region detection for indoor mobile robot. Int. J. Humanoid Robot. 11(01), 1450010 (2014)","journal-title":"Int. J. Humanoid Robot."},{"issue":"3","key":"858_CR34","doi-asserted-by":"crossref","first-page":"583","DOI":"10.1007\/s00138-011-0386-0","volume":"25","author":"SA Rodr\u00edguez Fl\u00f3rez","year":"2011","unstructured":"Rodr\u00edguez Fl\u00f3rez, S.A., Fr\u00e9mont, V., Bonnifait, P., Cherfaoui, V.: Multi-modal object detection and localization for high integrity driving assistance. Mach. Vis. Appl. 25(3), 583\u2013598 (2011)","journal-title":"Mach. Vis. Appl."},{"issue":"3","key":"858_CR35","doi-asserted-by":"crossref","first-page":"649","DOI":"10.1007\/s00138-011-0396-y","volume":"25","author":"S \u0160egvi\u0107","year":"2011","unstructured":"\u0160egvi\u0107, S., Brki\u0107, K., Kalafati\u0107, Z., Pinz, A.: Exploiting temporal and spatial constraints in traffic sign detection from a moving vehicle. Mach. Vis. Appl. 25(3), 649\u2013665 (2011)","journal-title":"Mach. Vis. Appl."},{"key":"858_CR36","doi-asserted-by":"crossref","unstructured":"Shen, J., Yang, X., Jia, Y., Li, X.: Intrinsic images using optimization. In: IEEE Conference on Computer Vision and Pattern Recognition, pp. 3481\u20133487. IEEE (2011)","DOI":"10.1109\/CVPR.2011.5995507"},{"issue":"6","key":"858_CR37","doi-asserted-by":"crossref","first-page":"1519","DOI":"10.1007\/s00138-014-0611-8","volume":"25","author":"B Shin","year":"2014","unstructured":"Shin, B., Xu, Z., Klette, R.: Visual lane analysis and higher-order tasks: a concise review. Mach. Vis. Appl. 25(6), 1519\u20131547 (2014)","journal-title":"Mach. Vis. Appl."},{"key":"858_CR38","doi-asserted-by":"crossref","unstructured":"Shinzato, P.Y., Gomes, D., Wolf, D.F.: Road estimation with sparse 3d points from stereo data. In: IEEE International Conference on Intelligent Transportation Systems, pp. 1688\u20131693. IEEE (2014)","DOI":"10.1109\/ITSC.2014.6957936"},{"issue":"3","key":"858_CR39","doi-asserted-by":"crossref","first-page":"599","DOI":"10.1007\/s00138-011-0388-y","volume":"25","author":"S Sivaraman","year":"2011","unstructured":"Sivaraman, S., Trivedi, M.M.: Active learning for on-road vehicle detection: a comparative study. Mach. Vis. Appl. 25(3), 599\u2013611 (2011)","journal-title":"Mach. Vis. Appl."},{"key":"858_CR40","doi-asserted-by":"crossref","unstructured":"Tan, C., Hong, T., Chang, T., Shneier, M.: Color model-based real-time learning for road following. In: Proceedings of IEEE Conference on Intelligent Transportation Systems, pp. 939\u2013944. IEEE (2006)","DOI":"10.1109\/ITSC.2006.1706865"},{"key":"858_CR41","doi-asserted-by":"crossref","first-page":"85","DOI":"10.1016\/j.patcog.2015.09.006","volume":"51","author":"J Tian","year":"2015","unstructured":"Tian, J., Qi, X., Qu, L., Tang, Y.: New spectrum ratio properties and features for shadow detection. Pattern Recognit. 51, 85\u201396 (2015)","journal-title":"Pattern Recognit."},{"issue":"6","key":"858_CR42","doi-asserted-by":"crossref","first-page":"1575","DOI":"10.1109\/TCST.2011.2168958","volume":"20","author":"Z Wang","year":"2012","unstructured":"Wang, Z., Kim, D.J., Behal, A.: Design of stable visual servoing under sensor and actuator constraints via a Lyapunov-based approach. IEEE Trans. Control Syst. Technol. 20(6), 1575\u20131582 (2012)","journal-title":"IEEE Trans. Control Syst. Technol."},{"issue":"2","key":"858_CR43","first-page":"874","volume":"16","author":"M Wu","year":"2015","unstructured":"Wu, M., Lam, S.K., Srikanthan, T.: Nonparametric technique based high-speed road surface detection. IEEE Trans. Intell. Transp. Syst. 16(2), 874\u2013884 (2015)","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"issue":"8","key":"858_CR44","doi-asserted-by":"crossref","first-page":"2756","DOI":"10.1016\/j.patcog.2014.02.004","volume":"47","author":"P Wu","year":"2014","unstructured":"Wu, P., Chang, C., Lin, C.H.: Lane-mark extraction for automobiles under complex conditions. Pattern Recognit. 47(8), 2756\u20132767 (2014)","journal-title":"Pattern Recognit."}],"container-title":["Machine Vision and Applications"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s00138-017-0858-y\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s00138-017-0858-y.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s00138-017-0858-y.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,21]],"date-time":"2025-06-21T15:31:19Z","timestamp":1750519879000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s00138-017-0858-y"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,7,7]]},"references-count":44,"journal-issue":{"issue":"5-6","published-print":{"date-parts":[[2017,8]]}},"alternative-id":["858"],"URL":"https:\/\/doi.org\/10.1007\/s00138-017-0858-y","relation":{},"ISSN":["0932-8092","1432-1769"],"issn-type":[{"type":"print","value":"0932-8092"},{"type":"electronic","value":"1432-1769"}],"subject":[],"published":{"date-parts":[[2017,7,7]]}}}