To get rid of the interference of shadows when detecting objects

we discussed the theory of illuminant invariance image and its important property first. Based on this theory

a method for removing the casting shadows of objects was proposed. According to optical imaging theory

this method transforms a color image to an illuminant invariance gray- scale image and removes the shadows. To obtain the illuminant invariance image

a camera-dependent illuminant invariance angle should be measured first. Aiming at solving this inconvenient

a histogram-based rule for deciding the illuminant invariance angle was proposed also. A number of experiments results upon different scenes demonstrated that

the proposed method is able to remove the casting shadows effectively and segment the objects accurately.