Single materials have colors which form straight lines in RGB space. However, in severe shadow cases, those lines do not intersect the origin, which is inconsistent with the description of most literature. This paper is concerned with the detection and correction of the offset between the intersection and origin. First, we analyze the reason for forming that offset via an optical imaging model. Second, we present a simple and effective way to detect and remove the offset. The resulting images, named ORGB, have almost the same appearance as the original RGB images while are more illumination-robust for color space conversion. Besides, image processing using ORGB instead of RGB is free from the interference of shadows. Finally, the proposed offset correction method is ap- plied to road detection task, improving the performance both in quantitative and qualitative evaluations. 

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@inproceedings{ying2017orgb,
  title={ORGB: Offset correction in RGB color space for illumination-robust image processing},
  author={Ying, Zhenqiang and Li, Ge and Wen, Sixin and Tan, Guozhen},
  booktitle={Acoustics, Speech and Signal Processing (ICASSP), 2017 IEEE International Conference on},
  pages={1557--1561},
  year={2017},
  organization={IEEE}
}