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中文摘要：
灰度无关图具有对光照不敏感的特性，因而，彩色图像中相应位置上的阴影将不会出现在灰度无关图中。在研究RGB颜色空间中阴影与灰度无关图逻辑关系的基础上，应用灰度无关图消除光照度与阴影引起的噪声．达到对彩色图像中存在的阴影区域进行抑制及降噪后重构的目的。基于标准测试图像的试验结果表明，重构图像可以有效且实时地抑制彩色图像中的阴影。
英文摘要：
It was crucial to detect and restrain shadow of sequemial chromatic images in vision-based on navigation. Gray invariant image was not influenced by illumination of lightness, shadow normally existed in chromatic image whereas the shadow would disappear on the corresponding region in gray invariant image. Based on the logistic relationship of shadow and gray invariant image in RGB color space, the algorithm applied gray invariant image to remove the noises induced by illumination and shadow, aiming at reducing noise and reconstructing image. The reconstructed images effectively show the results of the algorithm by the convincing data based on standard testing images in real time.
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