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Abstract-One source of accidents when driving a vehicle is the presence of fog. Fog fades the colors and reduces the contrasts in the scene with respect to their distances from the driver. Various camera-based Advanced Driver Assistance Systems (ADAS) can be improved if efficient algorithms are designed for visibility enhancement in road images. The visibility enhancement algorithm proposed in [1] is not optimized for road images. In this paper, we reformulate the problem as the inference of the local atmospheric veil from constraints. The algorithm in [1] thus becomes a particular case. From this new derivation, we propose to better handle road images by introducing an extra constraint taking into account that a large part of the image can be assumed to be a planar road. The advantages of the proposed local algorithm are the speed, the possibility to handle both color and gray-level images, and the small number of parameters. A new scheme is proposed for rating visibility enhancement algorithms based on the addition of several types of generated fog on synthetic and camera images. A comparative study and quantitative evaluation with other state-of-the-art algorithms is thus proposed. This evaluation demonstrates that the new algorithm produces better results with homogeneous fog and that it is able to deal better with the presence of heterogeneous fog. Finally, we also propose a model allowing to evaluate the potential safety benefit of an ADAS based on the display of defogged images.

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The detection of bad weather conditions is crucial for meteorological centers, specially with demand for air, sea and ground traffic management. In this article, a system based on computer vision is presented which detects the presence of rain or snow. To separate the foreground from the background in image sequences, a classical Gaussian Mixture Model is used. The foreground model serves to detect rain and snow, since these are dynamic weather phenomena. Selection rules based on photometry and size are proposed in order to select the potential rain streaks. Then a Histogram of Orientations of rain or snow Streaks (HOS), estimated with the method of geometric moments, is computed, which is assumed to follow a model of Gaussianuniform mixture. The Gaussian distribution represents the orientation of the rain or the snow whereas the uniform distribution represents the orientation of the noise. An algorithm of expectation maximization is used to separate these two distributions. Following a goodness-of-fit test, the Gaussian distribution is temporally smoothed and its amplitude allows deciding the presence of rain or snow. When the presence of rain or of snow is detected, the HOS makes it possible to detect the pixels of rain or of snow in the foreground images, and to estimate the intensity of the precipitation of rain or of snow. The applications of the method are numerous and include the detection of critical weather conditions, the observation of weather, the reliability improvement of video-surveillance systems and rain rendering. Electronic supplementary materialThe online version of this article (

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In foggy weather, the contrast of images grabbed by invehicle

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