  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 applied to road detection task, improving the performance both in
quantitative and qualitative evaluations.
