Fast lighting independent background subtraction

This paper describes a simple method of fast background subtraction based u pon disparity verification that is invariant to arbitrarily rapid run-time changes in illumination. Using two or more cameras, the method requires the off-line construction of disparity fields mapping the primary background i mages. At runtime, segmentation is performed by checking background image t o each of the additional auxiliary color intensity values at corresponding pixels. If more than two cameras are available, more robust segmentation ca n be achieved and, in particular, the occlusion shadows can be generally el iminated as well. Because the method only assumes fixed background geometry , the technique allows for illumination variation at runtime. Since no disp arity search is performed, the algorithm is easily implemented in real-time on conventional hardware.