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A new algorithm to eliminate moving cast shadow for robust vehicle detection and extraction in a vision-based highway monitoring system is investigated. The proposed algorithm is based on a simplified 2D vehicle/shadow model of six types projected on to a 2D image plane. Parameters of the joint 2D vehicle/shadow models can be estimated from the input video without light source and camera calibration information. Simulations are performed to verify that the proposed technique is effective for vision-based highway surveillance systems.