This answer proposes that light bars would be better than a single headlight for night time navigation on the Moon because a single headlight will generate hard shadows. Considering this is exactly what sunlight does to the appearance of the skylight-less Moon's terrain for every rover that's been there as well as for the astronauts. (note that humans and some rovers have used binocular vision as well)
But hard shadows generate a lot of potentially helpful terrain information in addition to the loss of information in the dark areas, and this could be quite helpful.
Question: Have lunar (or Martian) rovers exploited shadows, perhaps for terrain comprehension or obstacle avoidance? Has there been any work on this technique or proposed systems that would exploit hard shadows produced either by sunlight (especially on bodies without a sky for fill-illumination)?