(a)
(b)
(d)
(c)
(a) An image taken at 7:30
am in the morning. An empty parking lot.
(b) Predicted image. What
the parking lot should look like if it is lit by the sun at 9:20 of that
day.
The prediction is computed
from (a) and (c). The transformation is a 3x3 matrix.
(c) The actual image taken
at 9:20 of that day. By comparing (b)(c),
it can be seen the appearance
change caused by the illumination is fully compensated.
(d) Detected changes. Changes
due to shadow are shown as light gray and dark gray.