“…In a manner similar to [151], Mori uses what is referred to as the color impression factor-Red minus Blue-to compensate for hue shifts due to variations in sunlight conditions, weather, season, view position, etc. However, instead of storing models of "sunny road" and "shaded road," as in Navlab and VITS [143], [151] (which are useful only when the robot is in completely sunny or completely shady regions), the system presented by Mori uses three windows positioned in the image to correspond to three regions ahead of the robot: far (4 meters), middle (3 meters), and near (2 meters). The windows are analyzed and the computed color impression factor is used to facilitate transitions from/to sunny to/from shaded regions.…”