Mufti, FaisalMahony, Robert2025-12-312025-12-3197836422408430302-9743https://hdl.handle.net/1885/733797574Time-of-flight (TOF) cameras are primarily used for range estimation by illuminating the scene through a TOF infrared source. However, additional background sources of illumination of the scene are also captured in the measurement process. This paper uses radiometric modelling of the signals emitted from the camera and a Lambertian reflectance model to develop a shadow segmentation algorithm. The proposed model is robust and is experimentally verified using real data.10enRadiometric ModellingReflectance ModellingShadow SegmentationTime-of-flight201110.1007/978-3-642-24085-0_980052986316